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[chibios] Add STM32H7 (#2859)

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* [chibios] Add STM32H7

* [chibios] Update to latest version

* [chibios] Cleanup board configuration

* [chibios] Cleanup peripheral drivers

* [chibios] Fix bootloader interrupt vector done inside ChibiOS

* [sdlogger] Enable RTC by default

* [chibios] Fix DMA buffers SPI/I2C

* [formatting] Fix formatting/styling of files

* [chibios] Change PWM configuration (small fixes i2c and makefile)

* [chibios] Generic board files

* [boards] Fix apogee board

* [conf] Cleanup airframes and remove Navstik board
This commit is contained in:
Freek van Tienen
2022-05-18 17:38:58 +02:00
committed by GitHub
parent 81fe5a8763
commit 2a0dba4025
137 changed files with 5955 additions and 6681 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitmodules
+2 -2
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@@ -6,10 +6,10 @@
url = https://github.com/paparazzi/luftboot.git
[submodule "sw/ext/fatfs"]
path = sw/ext/fatfs
url = https://github.com/enacuavlab/fatfs.git
url = https://github.com/paparazzi/fatfs.git
[submodule "sw/ext/chibios"]
path = sw/ext/chibios
url = https://github.com/ChibiOS/ChibiOS.git
url = https://github.com/paparazzi/ChibiOS.git
[submodule "sw/ext/libzbar"]
path = sw/ext/libzbar
url = https://github.com/paparazzi/libzbar
.vscode/settings.json
Vendored
+2 -4
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@@ -9,9 +9,7 @@
"editor.tabSize": 4,
},
"files.associations": {
"mateksys_3901_l0x.h": "c",
"stdlib.h": "c",
"iterator": "cpp",
"tensor": "cpp"
"Makefile.*": "makefile"
},
"C_Cpp.dimInactiveRegions": false,
}
conf/Makefile.chibios
+5 -4
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@@ -26,7 +26,9 @@
CHIBIOS = $(PAPARAZZI_SRC)/sw/ext/chibios
# directory with board defines for chibios platforms (board specific)
BOARD_COMMON ?=
BOARD_DIR ?= $(BOARD)/chibios
CHIBIOS_BOARD_COMMON_DIR = $(PAPARAZZI_SRC)/sw/airborne/boards/$(BOARD_COMMON)
CHIBIOS_BOARD_DIR = $(PAPARAZZI_SRC)/sw/airborne/boards/$(BOARD_DIR)
# chibos linker scripts directory
@@ -206,11 +208,10 @@ include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/$(CHIBIOS_BOARD_STA
# HAL-OSAL files (optional).
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/hal/ports/STM32/$(CHIBIOS_BOARD_PLATFORM)
include $(CHIBIOS_BOARD_DIR)/board.mk
include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk
# RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
include $(CHIBIOS)/os/common/ports/ARMv7-M/compilers/GCC/mk/port.mk
# Other files (optional).
#
ifeq ($(USE_FATFS), TRUE)
@@ -224,7 +225,7 @@ LDSCRIPT= $(CHIBIOS_LINKER_DIR)/$(CHIBIOS_BOARD_LINKER)
# setting.
CSRC = $(ALLCSRC) \
$(CHIBIOS)/os/various/syscalls.c \
$(CHIBIOS_BOARD_MAIN)
$(PAPARAZZI_SRC)/sw/airborne/arch/chibios/board.c
ECSRC = $(filter %.c, $($(TARGET).srcs))
ECPPSRC = $(filter %.cpp, $($(TARGET).srcs))
@@ -256,7 +257,7 @@ TCPPSRC =
# List ASM source files here
ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(CONFDIR) $(ALLINC) $(CHIBIOS_BOARD_DIR)
INCDIR = $(CONFDIR) $(ALLINC) $(CHIBIOS_BOARD_DIR) $(CHIBIOS_BOARD_COMMON_DIR)
# Output directory and files
BUILDDIR := $(AIRCRAFT_BUILD_DIR)/$(TARGET)
conf/airframes/ENAC/conf_enac.xml
+4 -4
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@@ -18,7 +18,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic_safety.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ins_extended.xml modules/ahrs_float_invariant.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_invariant.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="red"
/>
<aircraft
@@ -29,7 +29,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic_safety.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="yellow"
/>
<aircraft
@@ -62,7 +62,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/guidance_indi.xml modules/stabilization_indi.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/air_data.xml modules/imu_common.xml modules/airspeed_ms45xx_i2c.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi.xml"
gui_color="#ffff7f7f0000"
/>
<aircraft
@@ -73,7 +73,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml [settings/nps.xml]"
settings_modules="[modules/gps_ubx_ucenter.xml] modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/airspeed_adc.xml modules/gps.xml [modules/gps_ubx_ucenter.xml] modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
gui_color="#ffff7d7d0000"
/>
<aircraft
conf/airframes/examples/cube_orange.xml
+365
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@@ -0,0 +1,365 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- This is a Nedderdrone
* Airframe: TUD00328
* Autopilot: Pixhawk 4
* FBW: Pixhawk 4
* Actuators: 12x T-Motor ESC + Motors and 8x Servos (all CAN)
* Datalink: Doodlelabs 2.4GHz
* GPS: UBlox F9P
* RC: SBUS Crossfire
-->
<airframe name="Neddrone5">
<description>Neddrone5</description>
<firmware name="rotorcraft">
<target name="ap" board="cube_orange">
<configure name="PERIODIC_FREQUENCY" value="500"/>
<configure name="FLASH_MODE" value="SWD"/>
<!--configure name="RTOS_DEBUG" value="1"/-->
<module name="radio_control" type="sbus">
<configure name="SBUS_PORT" value="UART3"/>
</module>
<module name="airspeed" type="ms45xx_i2c">
<define name="USE_I2C4"/>
<define name="MS45XX_I2C_DEV" value="i2c4"/>
</module>
<module name="scheduling_indi_simple"/>
<module name="sys_mon"/>
<!-- Forward FuelCell data back to the GCS -->
<!--module name="generic_uart_sensor"/-->
<!-- Logger -->
<module name="flight_recorder"/>
<!--define name="ADC_CURRENT_DISABLE" value="TRUE"/-->
<module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/>
<configure name="ADC_CHANNEL_GENERIC2" value="ADC_5"/>
</module>
<define name="RADIO_TH_HOLD" value="RADIO_AUX1"/> <!-- Throttle hold in command laws -->
<define name="RADIO_FMODE" value="RADIO_AUX2"/> <!-- Throttle curve select -->
<define name="RADIO_FBW_MODE" value="RADIO_AUX3"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="RADIO_AUX1"/>
<!-- Use the external mag (not in NPS target as then it needs to listen to all) -->
<define name="INS_EKF2_MAG_ID" value="MAG_LIS3MDL_SENDER_ID"/>
</target>
<target name="nps" board="pc">
<module name="radio_control" type="datalink"/>
<module name="fdm" type="jsbsim"/>
<module name="scheduling_indi_simple"/>
<module name="logger_file">
<define name="FILE_LOGGER_PATH" value="/home/ewoud/Documents"/>
</module>
<!--Not dealing with these in the simulation-->
<define name="RADIO_TH_HOLD" value="0"/> <!-- Throttle hold in command laws -->
<define name="RADIO_FMODE" value="0"/> <!-- Throttle curve select -->
<define name="RADIO_FBW_MODE" value="0"/> <!-- Switch between AP and FBW control -->
<define name="RADIO_KILL_SWITCH" value="0"/>
</target>
<module name="telemetry" type="transparent">
<configure name="MODEM_BAUD" value="B115200"/>
</module>
<module name="actuators" type="uavcan">
<configure name="UAVCAN_USE_CAN1" value="TRUE"/>
<configure name="UAVCAN_USE_CAN2" value="TRUE"/>
</module>
<module name="actuators" type="pwm"/>
<module name="imu" type="mpu6000"/>
<module name="gps" type="ublox"/>
<module name="gps" type="ubx_ucenter"/>
<module name="stabilization" type="indi_simple"/>
<module name="stabilization" type="rate_indi"/>
<module name="ins" type="ekf2" />
<module name="air_data"/>
<module name="send_imu_mag_current"/>
<!-- Internal MAG -->
<!--module name="mag_ist8310">
<define name="MODULE_IST8310_UPDATE_AHRS" value="TRUE"/>
<configure name="MAG_IST8310_I2C_DEV" value="I2C3"/>
</module-->
<!-- External MAG on GPS -->
<module name="mag_lis3mdl">
<define name="MODULE_LIS3MDL_UPDATE_AHRS" value="TRUE"/>
<configure name="MAG_LIS3MDL_I2C_DEV" value="I2C1"/>
<define name="LIS3MDL_CHAN_X_SIGN" value="-"/>
<define name="LIS3MDL_CHAN_Y_SIGN" value="-"/>
</module>
<!--module name="lidar" type="tfmini">
<configure name="TFMINI_PORT" value="UART4"/>
<configure name="USE_TFMINI_AGL" value="FALSE"/>
</module-->
<module name="guidance" type="indi_hybrid">
<define name="GUIDANCE_INDI_RC_DEBUG" value="FALSE"/>
<define name="GUIDANCE_INDI_POS_GAIN" value="0.2"/>
<define name="GUIDANCE_INDI_SPEED_GAIN" value="1.0"/>
<define name="GUIDANCE_INDI_POS_GAINZ" value="0.2"/>
<define name="GUIDANCE_INDI_SPEED_GAINZ" value="1.0"/>
<define name="GUIDANCE_INDI_PITCH_LIFT_EFF" value="0.12"/>
<define name="GUIDANCE_INDI_PITCH_EFF_SCALING" value="1.0"/>
<define name="GUIDANCE_H_REF_MAX_SPEED" value="18.0"/> <!--not used-->
<define name="GUIDANCE_INDI_MAX_AIRSPEED" value="16.0"/>
<define name="GUIDANCE_HEADING_IS_FREE" value="FALSE"/> <!--heading can not be set by navigation-->
<define name="GUIDANCE_INDI_HEADING_BANK_GAIN" value="5"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN" value="-943.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_45" value="-500.0"/>
<define name="GUIDANCE_INDI_SPECIFIC_FORCE_GAIN_FWD" value="-1600.0"/>
<define name="GUIDANCE_INDI_FILTER_CUTOFF" value="0.5"/>
<define name="GUIDANCE_INDI_LINE_GAIN" value="0.2"/>
<define name="GUIDANCE_INDI_MIN_THROTTLE" value="2500"/>
</module>
<module name="motor_mixing"/>
</firmware>
<!-- CAN BUS 1 (Front Wing) -->
<servos driver="Pwm">
<servo name="MOTOR_1" no="0" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_2" no="1" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_3" no="2" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_4" no="3" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_5" no="4" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_6" no="5" min="1000" neutral="1100" max="2000"/>
<servo name="MOTOR_7" no="6" min="1000" neutral="1100" max="2000"/>
</servos>
<!-- CAN BUS 1 (Front Wing) -->
<servos driver="Uavcan1">
<!--servo name="MOTOR_1" no="0" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_2" no="1" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_3" no="2" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_4" no="3" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_5" no="4" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_6" no="5" min="-8191" neutral="1500" max="8191"/-->
<servo name="AIL_1" no="6" min="6000" neutral="0" max="-6000"/>
<servo name="FLAP_1" no="7" min="6000" neutral="0" max="-6000"/>
<servo name="FLAP_2" no="8" min="-6000" neutral="0" max="6000"/>
<servo name="AIL_2" no="9" min="-6000" neutral="0" max="6000"/>
</servos>
<servos driver="Uavcan2">
<!--servo name="MOTOR_1" no="0" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_2" no="1" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_3" no="2" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_4" no="3" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_5" no="4" min="-8191" neutral="1500" max="8191"/>
<servo name="MOTOR_6" no="5" min="-8191" neutral="1500" max="8191"/-->
<servo name="AIL1_1" no="6" min="6000" neutral="0" max="-6000"/>
<servo name="FLAP1_1" no="7" min="6000" neutral="0" max="-6000"/>
<servo name="FLAP1_2" no="8" min="-6000" neutral="0" max="6000"/>
<servo name="AIL1_2" no="9" min="-6000" neutral="0" max="6000"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="-300"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<rc_commands>
<set command="THRUST" value="@THROTTLE" />
<set command="ROLL" value="@YAW" />
<set command="PITCH" value="@PITCH/2" />
<set command="YAW" value="-@ROLL/4" />
</rc_commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<!-- frontleft left (CCW), frontleft mid (CW), frontleft right (CCW), frontright left (CW), frontright mid (CCW), frontright right (CW) -->
<!-- backleft left (CW), backleft mid (CCW), backleft right (CW), backright left (CCW), backright mid (CW), backright right (CCW) -->
<define name="NB_MOTOR" value="12"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{256, 157, 56, -56, -157, -256, 256, 157, 56, -56, -157, -256}"/>
<define name="PITCH_COEF" value="{256, 256, 256, 256, 256, 256, -256, -256, -256, -256, -256, -256}"/>
<define name="YAW_COEF" value="{256, -256, 256, -256, 256, -256, -256, 256, -256, 256, -256, 256}"/>
<!--<define name="YAW_COEF" value="{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}"/>-->
<define name="THRUST_COEF" value="{256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256, 256}"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<let var="th_hold" value="LessThan(RadioControlValues(RADIO_TH_HOLD), -4800)"/>
<set servo="MOTOR_1" value="($th_hold? -9600 : motor_mixing.commands[0])"/>
<set servo="MOTOR_2" value="($th_hold? -9600 : motor_mixing.commands[1])"/>
<set servo="MOTOR_3" value="($th_hold? -9600 : motor_mixing.commands[2])"/>
<set servo="MOTOR_4" value="($th_hold? -9600 : motor_mixing.commands[3])"/>
<set servo="MOTOR_5" value="($th_hold? -9600 : motor_mixing.commands[4])"/>
<set servo="MOTOR_6" value="($th_hold? -9600 : motor_mixing.commands[5])"/>
</command_laws>
<section name="MISC">
<!--define name="VoltageOfAdc(adc)" value="((3.3f/4096.0f) * 18.9040120162 * adc)"/--><!-- TODO: verify/calibrate -->
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
<!-- Basic navigation settings -->
<define name="NAV_CLIMB_VSPEED" value="3.5"/>
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<!-- Avoid GPS loss behavior when having RC or datalink -->
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
</section>
<section name="FORWARD">
<!--The Nederdrone uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
<define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
<!-- This is the pitch angle that the Nederdrone will have in forward flight, where 0 degrees is hover-->
<define name="TRANSITION_MAX_OFFSET" value="-80.0" unit="deg"/>
<!-- For RC coordinated turns, lower because the yawing was too slow -->
<define name="MAX_FWD_SPEED" value="20.0"/>
<!-- For hybrid guidance -->
<define name="MAX_AIRSPEED" value="20.0"/>
<!-- Enable airspeed measurements -->
<define name="USE_AIRSPEED" value="TRUE"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- Rotate the IMU (for Pixhawk 4) -->
<define name="MPU_CHAN_X" value="1"/>
<define name="MPU_CHAN_Y" value="0"/>
<define name="MPU_CHAN_Z" value="2"/>
<define name="MPU_X_SIGN" value="1"/>
<define name="MPU_Y_SIGN" value="1"/>
<define name="MPU_Z_SIGN" value="-1"/>
<!-- Calibrated 09-03-2021 in MAVLab outside body -->
<define name="ACCEL_X_NEUTRAL" value="16"/>
<define name="ACCEL_Y_NEUTRAL" value="31"/>
<define name="ACCEL_Z_NEUTRAL" value="10"/>
<define name="ACCEL_X_SENS" value="4.793311542012962" integer="16"/>
<define name="ACCEL_Y_SENS" value="4.893892083504835" integer="16"/>
<define name="ACCEL_Z_SENS" value="4.791159603565934" integer="16"/>
<!-- NOT CALIBRATED (internal magnetometer) -->
<!--define name="MAG_X_NEUTRAL" value="-13"/>
<define name="MAG_Y_NEUTRAL" value="-15"/>
<define name="MAG_Z_NEUTRAL" value="12"/>
<define name="MAG_X_SENS" value="12.823826623678" integer="16"/>
<define name="MAG_Y_SENS" value="12.86305350064853" integer="16"/>
<define name="MAG_Z_SENS" value="12.512614596093622" integer="16"/-->
<!-- NOT CALIBRATED (external magnetometer) -->
<define name="MAG_X_NEUTRAL" value="2457"/>
<define name="MAG_Y_NEUTRAL" value="-1123"/>
<define name="MAG_Z_NEUTRAL" value="-1843"/>
<define name="MAG_X_SENS" value="0.590610116730755" integer="16"/>
<define name="MAG_Y_SENS" value="0.6411943049128617" integer="16"/>
<define name="MAG_Z_SENS" value="0.6279536066632421" integer="16"/>
<!-- Define axis in hover frame -->
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="60." unit="deg"/>
<define name="SP_MAX_THETA" value="80." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="200"/>
<define name="SP_PSI_DELTA_LIMIT" value="45" unit="deg"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness (hover) -->
<define name="G1_P" value="0.0030"/>
<define name="G1_Q" value="0.0035"/>
<define name="G1_R" value="0.0004"/>
<define name="G2_R" value="0.00015"/>
<!-- control effectiveness (forward) -->
<define name="FORWARD_G1_P" value="0.0020"/>
<define name="FORWARD_G1_Q" value="0.0077"/>
<define name="FORWARD_G1_R" value="0.004"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="30.0"/>
<define name="REF_ERR_Q" value="30.0"/>
<define name="REF_ERR_R" value="20.0"/>
<define name="REF_RATE_P" value="6.0"/>
<define name="REF_RATE_Q" value="6.0"/>
<define name="REF_RATE_R" value="6.0"/>
<!--Maxium yaw rate, to avoid instability-->
<define name="MAX_R" value="50.0" unit="deg/s"/>
<!-- Maximum rate setpoint in rate control mode -->
<define name="MAX_RATE" value="3.0" unit="rad/s"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="1.5"/>
<define name="FILT_CUTOFF_RDOT" value="0.5"/>
<define name="ESTIMATION_FILT_CUTOFF" value="5.0"/>
<define name="FILT_CUTOFF_R" value="4.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.0354"/>
<define name="ACT_DYN_Q" value="0.0354"/>
<define name="ACT_DYN_R" value="0.0354"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="310"/>
<define name="HOVER_KD" value="130"/>
<define name="HOVER_KI" value="10"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.42"/>
<define name="ADAPT_THROTTLE_ENABLED" value="FALSE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="60"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="0"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,ail1,ail2,ail3,ail4,flap1,flap2,flap3,flap4" type="string[]"/>
<define name="JSBSIM_MODEL" value="nederdrone" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
<define name="JS_AXIS_MODE" value="4"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="18.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="18.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="19.2" unit="V"/>
<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
<define name="BAT_NB_CELLS" value="4"/>
</section>
</airframe>
conf/airframes/examples/quadrotor_navstik.xml
-216
View File
@@ -1,216 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- this is a quadrotor frame in X-configuration equiped with
* Autopilot: Navstik http://wiki.paparazziuav.org/wiki/Navstik
* IMU: Navstik http://wiki.paparazziuav.org/wiki/Navstik
* Actuators: Asctec V2 http://wiki.paparazziuav.org/wiki/Subsystem/actuators#Asctec_v2
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
* RC: one Spektrum sat http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
-->
<airframe name="Quadrotor Navstik">
<firmware name="rotorcraft">
<target name="ap" board="navstik_1.0">
<configure name="ACTUATORS_ASCTEC_V2_I2C_DEV" value="i2c3"/>
<define name="ACTUATORS_START_DELAY" value="1"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
</target>
<module name="radio_control" type="spektrum">
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
<define name="RADIO_MODE" value="RADIO_AUX1"/>
</module>
<module name="motor_mixing"/>
<module name="actuators" type="asctec_v2"/>
<module name="telemetry" type="xbee_api"/>
<module name="imu" type="navstik"/>
<module name="gps" type="ublox"/>
<module name="stabilization" type="indi_simple"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="hff"/>
<module name="gps" type="ubx_ucenter"/>
<!--module name="airspeed_ms45xx_i2c">
<configure name="MS45XX_I2C_DEV" value="i2c3"/>
</module>
<module name="direct_memory_logger"/-->
</firmware>
<firmware name="test_progs">
<configure name="MODEM_PORT" value="UART1"/>
<target name="test_sys_time_timer" board="navstik_1.0"/>
<target name="test_telemetry" board="navstik_1.0"/>
<target name="test_actuators_pwm_sin" board="navstik_1.0"/>
</firmware>
<servos driver="Asctec_v2">
<servo name="FRONT" no="0" min="0" neutral="3" max="200"/>
<servo name="BACK" no="1" min="0" neutral="3" max="200"/>
<servo name="LEFT" no="2" min="0" neutral="3" max="200"/>
<servo name="RIGHT" no="3" min="0" neutral="3" max="200"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<!-- order (and rotation direction) : NE (CW), SE (CCW), SW (CW), NW (CCW) -->
<define name="ROLL_COEF" value="{ -256, -256, 256, 256 }"/>
<define name="PITCH_COEF" value="{ 256, -256, -256, 256 }"/>
<define name="YAW_COEF" value="{ -256, 256, -256, 256 }"/>
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
</section>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="FRONT" value="motor_mixing.commands[0]"/>
<set servo="BACK" value="motor_mixing.commands[1]"/>
<set servo="LEFT" value="motor_mixing.commands[2]"/>
<set servo="RIGHT" value="motor_mixing.commands[3]"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_X_NEUTRAL" value="11"/>
<define name="ACCEL_Y_NEUTRAL" value="11"/>
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="-179"/>
<define name="MAG_Y_NEUTRAL" value="-21"/>
<define name="MAG_Z_NEUTRAL" value="79"/>
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
</section>
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.3770441"/>
<define name="H_Y" value="0.0193986"/>
<define name="H_Z" value="0.9259921"/>
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.150"/>
<define name="G1_Q" value="0.150"/>
<define name="G1_R" value="0.005119"/>
<define name="G2_R" value="0.2166"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="900.0"/>
<define name="REF_ERR_Q" value="900.0"/>
<define name="REF_ERR_R" value="500.0"/>
<define name="REF_RATE_P" value="38.0"/>
<define name="REF_RATE_Q" value="38.0"/>
<define name="REF_RATE_R" value="25.0"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="8.0"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.2"/>
<define name="ACT_DYN_Q" value="0.2"/>
<define name="ACT_DYN_R" value="0.2"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
</section>
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoints -->
<define name="SP_MAX_PHI" value="45." unit="deg"/>
<define name="SP_MAX_THETA" value="45." unit="deg"/>
<define name="SP_MAX_R" value="90." unit="deg/s"/>
<define name="DEADBAND_R" value="250"/>
<!-- reference -->
<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
<define name="REF_ZETA_P" value="0.85"/>
<define name="REF_MAX_P" value="300." unit="deg/s"/>
<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
<define name="REF_ZETA_Q" value="0.85"/>
<define name="REF_MAX_Q" value="300." unit="deg/s"/>
<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
<define name="REF_ZETA_R" value="0.85"/>
<define name="REF_MAX_R" value="180." unit="deg/s"/>
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
<!-- feedback -->
<define name="PHI_PGAIN" value="900"/>
<define name="PHI_DGAIN" value="200"/>
<define name="PHI_IGAIN" value="200"/>
<define name="THETA_PGAIN" value="900"/>
<define name="THETA_DGAIN" value="200"/>
<define name="THETA_IGAIN" value="200"/>
<define name="PSI_PGAIN" value="900"/>
<define name="PSI_DGAIN" value="200"/>
<define name="PSI_IGAIN" value="10"/>
<!-- feedforward -->
<define name="PHI_DDGAIN" value="75"/>
<define name="THETA_DDGAIN" value="75"/>
<define name="PSI_DDGAIN" value="75"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="MIN_ERR_Z" value="POS_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_Z" value="POS_BFP_OF_REAL( 10.)"/>
<define name="MIN_ERR_ZD" value="SPEED_BFP_OF_REAL(-10.)"/>
<define name="MAX_ERR_ZD" value="SPEED_BFP_OF_REAL( 10.)"/>
<define name="MAX_SUM_ERR" value="2000000"/>
<define name="HOVER_KP" value="150"/>
<define name="HOVER_KD" value="80"/>
<define name="HOVER_KI" value="20"/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="20" unit="deg"/>
<define name="USE_SPEED_REF" value="TRUE"/>
<define name="PGAIN" value="50"/>
<define name="DGAIN" value="100"/>
<define name="AGAIN" value="70"/>
<define name="IGAIN" value="20"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO2" value="AP_MODE_ATTITUDE_DIRECT"/>
</section>
<section name="BAT">
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
</section>
</airframe>
conf/boards/apogee_1.0_chibios.makefile
+1 -1
View File
@@ -17,7 +17,7 @@ RTOS=chibios
## FPU on F4
USE_FPU=softfp
$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
conf/boards/chimera_1.0.makefile
+1 -2
View File
@@ -23,7 +23,7 @@ USE_FPU_OPT= -mfpu=fpv5-d16
USE_LTO ?= yes
$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
@@ -33,7 +33,6 @@ PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk
CHIBIOS_BOARD_LINKER = STM32F76xxI.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
conf/boards/crazyflie_2.1.makefile
+1 -1
View File
@@ -18,7 +18,7 @@ ARCH=chibios
## FPU on F4
USE_FPU=softfp
$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
conf/boards/cube_orange.makefile
+88
View File
@@ -0,0 +1,88 @@
# Hey Emacs, this is a -*- makefile -*-
#
# cube_orange.makefile
#
# This is for the main MCU (STM32F767) on the PX4 board
# See https://pixhawk.org/modules/pixhawk for details
#
BOARD=cube
BOARD_VERSION=orange
BOARD_DIR=$(BOARD)/$(BOARD_VERSION)
BOARD_CFG=\"arch/chibios/common_board.h\"
ARCH=chibios
$(TARGET).ARCHDIR = $(ARCH)
RTOS=chibios
MCU=cortex-m7
# FPU on F7
USE_FPU=hard
USE_FPU_OPT= -mfpu=fpv5-d16
#USE_LTO=yes
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
#
# Define project name here (target)
PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32H7xx/platform.mk
CHIBIOS_LINKER_DIR = $(PAPARAZZI_SRC)/sw/airborne/arch/chibios/
CHIBIOS_BOARD_LINKER = STM32H743xI.ld
CHIBIOS_BOARD_STARTUP = startup_stm32h7xx.mk
##############################################################################
# Compiler settings
#
# default flash mode is the PX4 bootloader
# possibilities: DFU, SWD, PX4 bootloader
FLASH_MODE ?= PX4_BOOTLOADER
PX4_TARGET = "ap"
PX4_PROTOTYPE ?= "${PAPARAZZI_HOME}/sw/tools/px4/cube_orange.prototype"
PX4_BL_PORT ?= "/dev/serial/by-id/usb-Hex_ProfiCNC_CubeOrange*-BL*"
#
# default LED configuration
#
SDLOG_LED ?= none
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= none
GPS_LED ?= none
SYS_TIME_LED ?= 1
#
# default UART configuration (modem, gps, spektrum)
# The TELEM2 port
SBUS_PORT ?= UART3
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3
# The TELEM1 port (UART3 is TELEM2)
MODEM_PORT ?= UART2
MODEM_BAUD ?= B57600
# The GPS1 port (UART8 is GPS2)
GPS_PORT ?= UART1
GPS_BAUD ?= B57600
# InterMCU port connected to the IO processor
INTERMCU_PORT ?= UART6
INTERMCU_BAUD ?= B230400
#
# default actuator configuration
#
# you can use different actuators by adding a configure option to your firmware section
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
# and by setting the correct "driver" attribute in servo section
# e.g. <servo driver="Ppm">
#
ACTUATORS ?= actuators_pwm
conf/boards/holybro_kakute_f7.makefile
+1 -2
View File
@@ -23,7 +23,7 @@ USE_FPU_OPT= -mfpu=fpv5-sp-d16
USE_LTO ?= yes
$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD -DDSHOT_CHANNEL_FIRST_INDEX=1U
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD -DDSHOT_CHANNEL_FIRST_INDEX=1U
##############################################################################
# Architecture or project specific options
@@ -33,7 +33,6 @@ PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk
#CHIBIOS_BOARD_LINKER = STM32F76xxI.ld
CHIBIOS_BOARD_LINKER = STM32F746xG.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
conf/boards/lisa_m_common_chibios.makefile
+1 -1
View File
@@ -15,7 +15,7 @@ RTOS=chibios
USE_FPU=no
HARD_FLOAT=no
$(TARGET).CFLAGS += -DSTM32F1 -DPPRZLINK_ENABLE_FD
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
conf/boards/lisa_mx_2.1_chibios.makefile
+1 -1
View File
@@ -20,7 +20,7 @@ USE_FPU=hard
# See list of supported Tier 3 architectures at: https://forge.rust-lang.org/platform-support.html
RUST_ARCH = thumbv7em-none-eabihf
$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
conf/boards/matek_f765_wing.makefile
+1 -2
View File
@@ -23,7 +23,7 @@ USE_FPU_OPT= -mfpu=fpv5-d16
USE_LTO ?= yes
$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD -DDSHOT_CHANNEL_FIRST_INDEX=1U
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD -DDSHOT_CHANNEL_FIRST_INDEX=1U
##############################################################################
# Architecture or project specific options
@@ -33,7 +33,6 @@ PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk
CHIBIOS_BOARD_LINKER = STM32F76xxI.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
conf/boards/navstik_1.0.makefile
-54
View File
@@ -1,54 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# navstik_1.0.makefile
#
# http://wiki.paparazziuav.org/wiki/Navstik
#
BOARD=navstik
BOARD_VERSION=1.0
BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
ARCH=stm32
ARCH_L=f4
HARD_FLOAT=yes
$(TARGET).ARCHDIR = $(ARCH)
$(TARGET).OOCD_INTERFACE=ftdi/ivygs
$(TARGET).OOCD_BOARD=navstik
$(TARGET).LDSCRIPT=$(SRC_ARCH)/navstik.ld
# -----------------------------------------------------------------------
# default flash mode is via usb dfu bootloader
# other possibilities: DFU-UTIL, JTAG
FLASH_MODE ?= JTAG
#
# default LED configuration
#
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= 2
GPS_LED ?= none
SYS_TIME_LED ?= 1
#
# default uart configuration
#
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6
MODEM_PORT ?= UART5
MODEM_BAUD ?= B57600
GPS_PORT ?= UART2
GPS_BAUD ?= B57600
#
# default actuator configuration
#
# you can use different actuators by adding a configure option to your firmware section
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
# and by setting the correct "driver" attribute in servo section
# e.g. <servo driver="Ppm">
#
ACTUATORS ?= actuators_pwm
conf/boards/nucleo144_f767zi.makefile
+1 -2
View File
@@ -23,7 +23,7 @@ USE_FPU_OPT= -mfpu=fpv5-d16
USE_LTO=yes
$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
@@ -33,7 +33,6 @@ PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk
CHIBIOS_BOARD_LINKER = STM32F76xxI.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
conf/boards/px4fmu_2.4_chibios.makefile
+1 -9
View File
@@ -19,7 +19,7 @@ RTOS=chibios
# FPU on F4
USE_FPU=hard
$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
@@ -32,14 +32,6 @@ CHIBIOS_BOARD_PLATFORM = STM32F4xx/platform.mk
CHIBIOS_BOARD_LINKER = STM32F407xG.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f4xx.mk
# In this case we dont have LUFTBOOT but PX4_BOOTLOADER, but in order
# to correctly initialize the interrupt vector we have to define that
# the board has LUFTBOOT
HAS_LUFTBOOT ?= 1
ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
$(TARGET).CFLAGS+=-DLUFTBOOT
endif
##############################################################################
# Compiler settings
#
conf/boards/px4fmu_4.0_chibios.makefile
+3 -10
View File
@@ -15,11 +15,12 @@ ARCH=chibios
$(TARGET).ARCHDIR = $(ARCH)
RTOS=chibios
MCU=cortex-m4
# FPU on F4
USE_FPU=hard
$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
@@ -29,21 +30,13 @@ PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F4xx/platform.mk
CHIBIOS_LINKER_DIR = $(PAPARAZZI_SRC)/sw/airborne/arch/chibios/
CHIBIOS_BOARD_LINKER = STM32F427xT.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f4xx.mk
# In this case we dont have LUFTBOOT but PX4_BOOTLOADER, but in order
# to correctly initialize the interrupt vector we have to define that
# the board has LUFTBOOT
HAS_LUFTBOOT ?= 1
ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
$(TARGET).CFLAGS+=-DLUFTBOOT
endif
##############################################################################
# Compiler settings
#
MCU = cortex-m4
# default flash mode is the PX4 bootloader
# possibilities: DFU, SWD, PX4 bootloader
conf/boards/px4fmu_5.0_chibios.makefile
+3 -23
View File
@@ -9,7 +9,7 @@
BOARD=px4fmu
BOARD_VERSION=5.0
BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION)
BOARD_CFG=\"boards/$(BOARD_DIR)/$(BOARD).h\"
BOARD_CFG=\"arch/chibios/common_board.h\"
ARCH=chibios
$(TARGET).ARCHDIR = $(ARCH)
@@ -23,7 +23,7 @@ USE_FPU_OPT= -mfpu=fpv5-d16
#USE_LTO=yes
$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
@@ -33,30 +33,10 @@ PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk
CHIBIOS_LINKER_DIR = $(PAPARAZZI_SRC)/sw/airborne/arch/chibios/
CHIBIOS_BOARD_LINKER = STM32F76xxI.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
# ITCM flash is a special flash that allow faster operations
# At the moment it is not possible to flash the code in this mode using dfu-util
# but it should work with the BlackMagicProbe or STLINK
# By default, normal flash is used
ifeq ($(USE_ITCM),1)
$(TARGET).CFLAGS += -DUSE_ITCM=1
DFU_ADDR = 0x00200000
else
$(TARGET).CFLAGS += -DUSE_ITCM=0
DFU_ADDR = 0x08000000
endif
# In this case we dont have LUFTBOOT but PX4_BOOTLOADER, but in order
# to correctly initialize the interrupt vector we have to define that
# the board has LUFTBOOT
HAS_LUFTBOOT ?= 1
ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
$(TARGET).CFLAGS+=-DLUFTBOOT
endif
##############################################################################
# Compiler settings
#
conf/boards/tawaki_common.makefile
+1 -2
View File
@@ -22,7 +22,7 @@ USE_FPU_OPT= -mfpu=fpv5-d16
USE_LTO ?= yes
$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD -DDSHOT_CHANNEL_FIRST_INDEX=1U
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD -DDSHOT_CHANNEL_FIRST_INDEX=1U
##############################################################################
# Architecture or project specific options
@@ -32,7 +32,6 @@ PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk
CHIBIOS_BOARD_LINKER = STM32F76xxI.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
conf/conf_example.xml
+13 -24
View File
@@ -7,7 +7,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml settings/nps.xml"
settings_modules="modules/nav_basic_fw.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
@@ -18,7 +18,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="white"
/>
<aircraft
@@ -29,7 +29,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/radio_control_superbitrf_rc.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
gui_color="white"
/>
<aircraft
@@ -40,7 +40,7 @@
telemetry="telemetry/default_fixedwing_imu_9k6.xml"
flight_plan="flight_plans/versatile_airspeed.xml"
settings="settings/fixedwing_basic.xml settings/estimation/ac_char.xml"
settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/digital_cam.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/light.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="#ffffffffffff"
/>
<aircraft
@@ -51,7 +51,7 @@
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
settings="settings/fixedwing_basic.xml settings/nps.xml"
settings_modules=""
settings_modules="modules/battery_monitor.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/lidar_sf11.xml modules/nav_basic_fw.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml"
gui_color="#00009e93ffff"
/>
<aircraft
@@ -62,7 +62,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="white"
/>
<aircraft
@@ -73,7 +73,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/stabilization_rate.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/stabilization_rate.xml"
gui_color="blue"
/>
<aircraft
@@ -84,20 +84,9 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="white"
/>
<aircraft
name="Quad_Navstik"
ac_id="24"
airframe="airframes/examples/quadrotor_navstik.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="#710080"
/>
<aircraft
name="ardrone2"
ac_id="31"
@@ -106,7 +95,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/video_rtp_stream.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
gui_color="red"
/>
<aircraft
@@ -117,7 +106,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/air_data.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
gui_color="red"
/>
<aircraft
@@ -128,7 +117,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/cv_opticflow.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
gui_color="blue"
/>
<aircraft
@@ -139,7 +128,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/guidance_hybrid.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
gui_color="blue"
/>
<aircraft
@@ -150,7 +139,7 @@
telemetry="telemetry/default_rotorcraft_slow.xml"
flight_plan="flight_plans/dummy.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="[modules/gps.xml] [modules/ahrs_float_cmpl_quat.xml] [modules/ins_extended.xml] [modules/stabilization_int_quat.xml] [modules/nav_basic_rotorcraft.xml] [modules/guidance_rotorcraft.xml] [modules/imu_common.xml] modules/radio_control_cc2500_frsky.xml"
settings_modules="[modules/ahrs_float_cmpl_quat.xml] [modules/gps.xml] [modules/guidance_rotorcraft.xml] [modules/imu_common.xml] [modules/ins_extended.xml] [modules/nav_basic_rotorcraft.xml] modules/radio_control_cc2500_frsky.xml [modules/stabilization_int_quat.xml]"
gui_color="blue"
/>
</conf>
conf/conf_tests.xml
+38 -27
View File
@@ -1,4 +1,15 @@
<conf>
<aircraft
name="CubeOrange"
ac_id="1"
airframe="airframes/examples/cube_orange.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_basic_rotorcraft.xml modules/scheduling_indi_simple.xml modules/stabilization_indi_simple.xml"
gui_color="blue"
/>
<aircraft
name="DualBoard_AP_FBW"
ac_id="3"
@@ -7,7 +18,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/air_data.xml modules/nav_catapult.xml modules/digital_cam.xml modules/light.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/digital_cam.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/light.xml modules/nav_basic_fw.xml modules/nav_catapult.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
@@ -18,7 +29,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_dash_loiter_trim.xml"
settings_modules="modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/gps.xml"
settings_modules="modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
@@ -29,7 +40,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="white"
/>
<aircraft
@@ -40,29 +51,7 @@
telemetry="telemetry/fixedwing_flight_recorder.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
gui_color="blue"
/>
<aircraft
name="bebop2_opticflow"
ac_id="32"
airframe="airframes/examples/bebop2_opticflow.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/bebop_cam.xml modules/cv_opticflow.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="blue"
/>
<aircraft
name="quad_mavlink"
ac_id="36"
airframe="airframes/examples/quadrotor_lisa_mx_mavlink.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft_mavlink.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
@@ -73,7 +62,29 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/video_rtp_stream.xml modules/cv_colorfilter.xml modules/cv_opticflow.xml modules/geo_mag.xml modules/air_data.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/cv_colorfilter.xml modules/cv_opticflow.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
gui_color="red"
/>
<aircraft
name="bebop2_opticflow"
ac_id="32"
airframe="airframes/examples/bebop2_opticflow.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/bebop_cam.xml modules/cv_opticflow.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
gui_color="blue"
/>
<aircraft
name="quad_mavlink"
ac_id="36"
airframe="airframes/examples/quadrotor_lisa_mx_mavlink.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft_mavlink.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/estimation/ahrs_secondary.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="blue"
/>
</conf>
conf/conf_tests_coverity.xml
+19 -30
View File
@@ -7,7 +7,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/lidar_lite.xml modules/gps.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml"
settings_modules="modules/battery_monitor.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/lidar_lite.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="#ffff954c0000"
/>
<aircraft
@@ -18,7 +18,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml settings/nps.xml"
settings_modules="modules/nav_basic_fw.xml modules/gps.xml modules/ahrs_float_dcm.xml modules/imu_common.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
@@ -29,7 +29,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/air_data.xml modules/nav_catapult.xml modules/digital_cam.xml modules/light.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/digital_cam.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/light.xml modules/nav_basic_fw.xml modules/nav_catapult.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
@@ -40,7 +40,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/airspeed_adc.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
gui_color="#ffff7d7d0000"
/>
<aircraft
@@ -51,7 +51,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/superbitrf.xml settings/nps.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/radio_control_superbitrf_rc.xml modules/stabilization_int_quat.xml"
gui_color="white"
/>
<aircraft
@@ -62,7 +62,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="white"
/>
<aircraft
@@ -73,7 +73,7 @@
telemetry="telemetry/default_fixedwing_imu_9k6.xml"
flight_plan="flight_plans/versatile_airspeed.xml"
settings="settings/fixedwing_basic.xml settings/estimation/ac_char.xml"
settings_modules="modules/digital_cam.xml modules/light.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_energy.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/digital_cam.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/light.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="#ffffffffffff"
/>
<aircraft
@@ -84,7 +84,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/nav_modules.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_dash_loiter_trim.xml settings/nps.xml"
settings_modules="modules/nav_survey_poly_osam.xml modules/nav_smooth.xml modules/air_data.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
@@ -95,7 +95,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/gps.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
@@ -106,7 +106,7 @@
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/versatile.xml"
settings="settings/fixedwing_basic.xml settings/control/ctl_dash_loiter_trim.xml"
settings_modules="modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/gps.xml"
settings_modules="modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
@@ -117,7 +117,7 @@
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/AGGIEAIR/BasicTuning_Launcher.xml"
settings="settings/fixedwing_basic.xml settings/nps.xml"
settings_modules=""
settings_modules="modules/battery_monitor.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/lidar_sf11.xml modules/nav_basic_fw.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml"
gui_color="#00009e93ffff"
/>
<aircraft
@@ -128,7 +128,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="white"
/>
<aircraft
@@ -139,7 +139,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/stabilization_rate.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/stabilization_rate.xml"
gui_color="blue"
/>
<aircraft
@@ -150,20 +150,9 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="white"
/>
<aircraft
name="Quad_Navstik"
ac_id="24"
airframe="airframes/examples/quadrotor_navstik.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
gui_color="#710080"
/>
<aircraft
name="Quad_Revolution"
ac_id="43"
@@ -172,7 +161,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="blue"
/>
<aircraft
@@ -183,7 +172,7 @@
telemetry="telemetry/fixedwing_flight_recorder.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
@@ -194,7 +183,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/video_rtp_stream.xml modules/geo_mag.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
gui_color="red"
/>
<aircraft
@@ -205,7 +194,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/opticflow_hover.xml modules/cv_opticflow.xml modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/cv_opticflow.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/opticflow_hover.xml modules/stabilization_int_quat.xml"
gui_color="blue"
/>
<aircraft
@@ -216,7 +205,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml settings/nps.xml"
settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/bebop_ae_awb.xml modules/bebop_cam.xml modules/geo_mag.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/video_rtp_stream.xml"
gui_color="red"
/>
</conf>
conf/firmwares/baro_board.makefile
-7
View File
@@ -14,13 +14,6 @@ ifeq ($(BOARD), lisa_l)
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
# Navstik baro
else ifeq ($(BOARD), navstik)
BARO_BOARD_CFLAGS += -DUSE_I2C3
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_BOARD_BMP085
BARO_BOARD_SRCS += peripherals/bmp085.c
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
# Ardrone baro
else ifeq ($(BOARD), ardrone)
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
conf/firmwares/test_progs.makefile
-3
View File
@@ -124,9 +124,6 @@ ifeq ($(BOARD_VERSION), 2.0)
LED_DEFINES = -DLED_BLUE=3 -DLED_RED=4 -DLED_GREEN=5
endif
endif
ifeq ($(BOARD), navstik)
LED_DEFINES = -DLED_RED=1 -DLED_GREEN=2
endif
ifeq ($(BOARD), cc3d)
LED_DEFINES = -DLED_BLUE=1
endif
conf/flash_modes.xml
+2 -2
View File
@@ -27,7 +27,6 @@
<boards>
<board name="apogee_.*"/>
<board name="li[s]?a_mx_.*"/>
<board name="navstik_.*"/>
<board name="elle*"/>
<board name="openpilot_revo.*"/>
<board name="chimera_.*"/>
@@ -77,6 +76,7 @@
<board name="nucleo.*"/>
<board name="matek_.*"/>
<board name="holybro_.*"/>
<board name="cube_.*"/>
</boards>
</mode>
<mode name="BlackMagic Probe (SWD_NOPWR)">
@@ -103,6 +103,7 @@
<boards>
<board name="px4fmu_.*"/>
<board name="px4io_.*"/>
<board name="cube_.*"/>
</boards>
</mode>
<mode name="JTAG (OpenOCD)">
@@ -110,7 +111,6 @@
<boards>
<board name="krooz_sd"/>
<board name="li[s]?a_[lm]?_.*"/>
<board name="navstik_.*"/>
<board name="elle*"/>
</boards>
</mode>
conf/modules/baro_board.xml
+1 -9
View File
@@ -17,16 +17,8 @@
<raw>
ifeq ($(USE_BARO_BOARD), TRUE)
# Navstik baro
ifeq ($(BOARD), navstik)
BARO_BOARD_CFLAGS += -DUSE_I2C3
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_BOARD_BMP085
BARO_BOARD_SRCS += peripherals/bmp085.c
BARO_BOARD_SRCS += $(SRC_BOARD)/baro_board.c
# Lisa/M baro
else ifeq ($(BOARD), lisa_m)
ifeq ($(BOARD), lisa_m)
ifeq ($(BOARD_VERSION), 1.0)
# on lisa_m_1.0: defaults to i2c baro bmp085 on the board
LISA_M_BARO ?= BARO_BOARD_BMP085
conf/modules/boards/cube_orange.xml
+17
View File
@@ -0,0 +1,17 @@
<!DOCTYPE module SYSTEM "../module.dtd">
<module name="cube_orange" dir="boards">
<doc>
<description>
Specific configuration for Cube Orange with ChibiOS
</description>
</doc>
<dep>
<depends>spi_master,baro_ms5611_spi</depends>
</dep>
<makefile target="!sim|nps|fbw">
<configure name="SDLOG_USE_RTC" value="FALSE"/>
<configure name="MS5611_SPI_DEV" value="spi1"/> <!-- spi4 -->
<configure name="MS5611_SLAVE_IDX" value="SPI_SLAVE6"/> <!-- SPI_SLAVE4 -->
</makefile>
</module>
conf/modules/boards/navstik_1.0.xml
-14
View File
@@ -1,14 +0,0 @@
<!DOCTYPE module SYSTEM "../module.dtd">
<module name="navstik_1.0" dir="boards">
<doc>
<description>
Specific configuration for Navstik 1.0
</description>
</doc>
<dep>
<depends>i2c,baro_board</depends>
</dep>
<makefile target="!sim|nps|fbw"/>
</module>
conf/modules/boards/px4fmu_5.0_chibios.xml
+3 -1
View File
@@ -9,6 +9,8 @@
<dep>
<depends>spi_master,baro_board</depends>
</dep>
<makefile target="!sim|nps|fbw"/>
<makefile target="!sim|nps|fbw">
<configure name="SDLOG_USE_RTC" value="FALSE"/>
</makefile>
</module>
conf/modules/imu_navstik.xml
-47
View File
@@ -1,47 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="imu_navstik" dir="imu" task="sensors">
<doc>
<description>
Navstik IMU: MPU60x0 and HMC5883 via I2C.
</description>
<configure name="NAVSTIK_MAG_I2C_DEV" value="i2c3" description="I2C device to use for MAG"/>
<configure name="NAVSTIK_MPU_I2C_DEV" value="i2c1" description="I2C device to use for MPU"/>
<section name="IMU" prefix="IMU_">
<define name="MAG_X_NEUTRAL" value="2358"/>
<define name="MAG_Y_NEUTRAL" value="2362"/>
<define name="MAG_Z_NEUTRAL" value="2119"/>
<define name="MAG_X_SENS" value="3.4936416" integer="16"/>
<define name="MAG_Y_SENS" value="3.607713" integer="16"/>
<define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
</section>
</doc>
<dep>
<depends>i2c,imu_common</depends>
<provides>imu,mag</provides>
</dep>
<autoload name="imu_nps"/>
<autoload name="imu_sim"/>
<header>
<file name="imu_navstik.h"/>
</header>
<init fun="imu_navstik_init()"/>
<periodic fun="imu_navstik_periodic()"/>
<event fun="imu_navstik_event()"/>
<makefile target="!sim|nps|fbw">
<configure name="NAVSTIK_MAG_I2C_DEV" default="i2c3" case="lower|upper"/>
<define name="NAVSTIK_MAG_I2C_DEV" value="$(NAVSTIK_MAG_I2C_DEV_LOWER)"/>
<define name="USE_$(NAVSTIK_MAG_I2C_DEV_UPPER)"/>
<configure name="NAVSTIK_MPU_I2C_DEV" default="i2c1" case="lower|upper"/>
<define name="NAVSTIK_MPU_I2C_DEV" value="$(NAVSTIK_MPU_I2C_DEV_LOWER)"/>
<define name="USE_$(NAVSTIK_MPU_I2C_DEV_UPPER)"/>
<define name="IMU_TYPE_H" value="modules/imu/imu_navstik.h" type="string"/>
<file name="mpu60x0.c" dir="peripherals"/>
<file name="mpu60x0_i2c.c" dir="peripherals"/>
<file name="hmc58xx.c" dir="peripherals"/>
<file name="imu_navstik.c"/>
</makefile>
</module>
conf/userconf/tudelft/conf.xml
+1 -1
View File
@@ -300,7 +300,7 @@
<aircraft
name="Nederdrone5"
ac_id="27"
airframe="airframes/tudelft/nederdrone5.xml"
airframe="airframes/tudelft/cube_test.xml"
radio="radios/crossfire_sbus.xml"
telemetry="telemetry/highspeed_rotorcraft.xml"
flight_plan="flight_plans/tudelft/nederdrone_valkenburg.xml"
sw/airborne/arch/chibios/STM32H743xI.ld
+139
View File
@@ -0,0 +1,139 @@
/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/*
* STM32H743xI generic setup.
*
* AXI SRAM - BSS, Data, Heap.
* SRAM1+SRAM2 - None.
* SRAM3 - NOCACHE, ETH.
* SRAM4 - None.
* DTCM-RAM - Main Stack, Process Stack.
* ITCM-RAM - None.
* BCKP SRAM - None.
*/
MEMORY
{
flash0 (rx) : org = 0x08020000, len = 2M /* Flash bank1+bank2 */
flash1 (rx) : org = 0x08020000, len = 1M /* Flash bank 1 */
flash2 (rx) : org = 0x08100000, len = 1M /* Flash bank 2 */
flash3 (rx) : org = 0x00000000, len = 0
flash4 (rx) : org = 0x00000000, len = 0
flash5 (rx) : org = 0x00000000, len = 0
flash6 (rx) : org = 0x00000000, len = 0
flash7 (rx) : org = 0x00000000, len = 0
ram0 (wx) : org = 0x24000000, len = 64k /* AXI SRAM no-cache*/
ram1 (wx) : org = 0x24010000, len = 448k /* AXI SRAM cached */
ram2 (wx) : org = 0x30000000, len = 288k /* AHB SRAM1+SRAM2+SRAM3 */
ram3 (wx) : org = 0x30040000, len = 32k /* AHB SRAM3 */
ram4 (wx) : org = 0x38000000, len = 64k /* AHB SRAM4 */
ram5 (wx) : org = 0x20000000, len = 128k /* DTCM-RAM */
ram6 (wx) : org = 0x00000000, len = 64k /* ITCM-RAM */
ram7 (wx) : org = 0x38800000, len = 4k /* BCKP SRAM */
}
/* For each data/text section two region are defined, a virtual region
and a load region (_LMA suffix).*/
/* Flash region to be used for exception vectors.*/
REGION_ALIAS("VECTORS_FLASH", flash0);
REGION_ALIAS("VECTORS_FLASH_LMA", flash0);
/* Flash region to be used for constructors and destructors.*/
REGION_ALIAS("XTORS_FLASH", flash0);
REGION_ALIAS("XTORS_FLASH_LMA", flash0);
/* Flash region to be used for code text.*/
REGION_ALIAS("TEXT_FLASH", flash0);
REGION_ALIAS("TEXT_FLASH_LMA", flash0);
/* Flash region to be used for read only data.*/
REGION_ALIAS("RODATA_FLASH", flash0);
REGION_ALIAS("RODATA_FLASH_LMA", flash0);
/* Flash region to be used for various.*/
REGION_ALIAS("VARIOUS_FLASH", flash0);
REGION_ALIAS("VARIOUS_FLASH_LMA", flash0);
/* Flash region to be used for RAM(n) initialization data.*/
REGION_ALIAS("RAM_INIT_FLASH_LMA", flash0);
/* RAM region to be used for Main stack. This stack accommodates the processing
of all exceptions and interrupts.*/
REGION_ALIAS("MAIN_STACK_RAM", ram5);
/* RAM region to be used for the process stack. This is the stack used by
the main() function.*/
REGION_ALIAS("PROCESS_STACK_RAM", ram5);
/* RAM region to be used for data segment.*/
REGION_ALIAS("DATA_RAM", ram1);
REGION_ALIAS("DATA_RAM_LMA", flash0);
/* RAM region to be used for BSS segment.*/
REGION_ALIAS("BSS_RAM", ram1);
/* RAM region to be used for the default heap.*/
REGION_ALIAS("HEAP_RAM", ram1);
/* Stack rules inclusion.*/
INCLUDE rules_stacks.ld
/*===========================================================================*/
/* Custom sections for STM32H7xx. */
/* SRAM3 is assumed to be marked non-cacheable using MPU. */
/*===========================================================================*/
/* RAM region to be used for nocache segment.*/
REGION_ALIAS("NOCACHE_RAM", ram0);
/* RAM region to be used for eth segment.*/
REGION_ALIAS("ETH_RAM", ram3);
SECTIONS
{
/* Special section for non cache-able areas.*/
.nocache (NOLOAD) : ALIGN(4)
{
__nocache_base__ = .;
*(.nocache)
*(.nocache.*)
*(.bss.__nocache_*)
. = ALIGN(4);
__nocache_end__ = .;
} > NOCACHE_RAM
/* Special section for Ethernet DMA non cache-able areas.*/
.eth (NOLOAD) : ALIGN(4)
{
__eth_base__ = .;
*(.eth)
*(.eth.*)
*(.bss.__eth_*)
. = ALIGN(4);
__eth_end__ = .;
} > ETH_RAM
}
/* Code rules inclusion.*/
INCLUDE rules_code.ld
/* Data rules inclusion.*/
INCLUDE rules_data.ld
/* Memory rules inclusion.*/
INCLUDE rules_memory.ld
sw/airborne/boards/holybro/kakute_f7/board.c → sw/airborne/arch/chibios/board.c
+87 -45
View File
@@ -34,6 +34,21 @@
/* Driver local variables and types. */
/*===========================================================================*/
#if defined(STM32F1XX)
/**
* @brief STM32 GPIO static initialization data.
*/
const PALConfig pal_default_config = {
{VAL_GPIOA_ODR, VAL_GPIOA_CRL, VAL_GPIOA_CRH},
{VAL_GPIOB_ODR, VAL_GPIOB_CRL, VAL_GPIOB_CRH},
{VAL_GPIOC_ODR, VAL_GPIOC_CRL, VAL_GPIOC_CRH},
{VAL_GPIOD_ODR, VAL_GPIOD_CRL, VAL_GPIOD_CRH},
{VAL_GPIOE_ODR, VAL_GPIOE_CRL, VAL_GPIOE_CRH},
};
#else /* STM32F1XX */
/**
* @brief Type of STM32 GPIO port setup.
*/
@@ -91,48 +106,70 @@ typedef struct {
*/
static const gpio_config_t gpio_default_config = {
#if STM32_HAS_GPIOA
{VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR,
VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH},
{
VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR,
VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH
},
#endif
#if STM32_HAS_GPIOB
{VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR,
VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH},
{
VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR,
VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH
},
#endif
#if STM32_HAS_GPIOC
{VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR,
VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH},
{
VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR,
VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH
},
#endif
#if STM32_HAS_GPIOD
{VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR,
VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH},
{
VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR,
VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH
},
#endif
#if STM32_HAS_GPIOE
{VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR,
VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH},
{
VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR,
VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH
},
#endif
#if STM32_HAS_GPIOF
{VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR,
VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH},
{
VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR,
VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH
},
#endif
#if STM32_HAS_GPIOG
{VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR,
VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH},
{
VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR,
VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH
},
#endif
#if STM32_HAS_GPIOH
{VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR,
VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH},
{
VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR,
VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH
},
#endif
#if STM32_HAS_GPIOI
{VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR,
VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH},
{
VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR,
VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH
},
#endif
#if STM32_HAS_GPIOJ
{VAL_GPIOJ_MODER, VAL_GPIOJ_OTYPER, VAL_GPIOJ_OSPEEDR, VAL_GPIOJ_PUPDR,
VAL_GPIOJ_ODR, VAL_GPIOJ_AFRL, VAL_GPIOJ_AFRH},
{
VAL_GPIOJ_MODER, VAL_GPIOJ_OTYPER, VAL_GPIOJ_OSPEEDR, VAL_GPIOJ_PUPDR,
VAL_GPIOJ_ODR, VAL_GPIOJ_AFRL, VAL_GPIOJ_AFRH
},
#endif
#if STM32_HAS_GPIOK
{VAL_GPIOK_MODER, VAL_GPIOK_OTYPER, VAL_GPIOK_OSPEEDR, VAL_GPIOK_PUPDR,
VAL_GPIOK_ODR, VAL_GPIOK_AFRL, VAL_GPIOK_AFRH}
{
VAL_GPIOK_MODER, VAL_GPIOK_OTYPER, VAL_GPIOK_OSPEEDR, VAL_GPIOK_PUPDR,
VAL_GPIOK_ODR, VAL_GPIOK_AFRL, VAL_GPIOK_AFRH
}
#endif
};
@@ -140,7 +177,8 @@ static const gpio_config_t gpio_default_config = {
/* Driver local functions. */
/*===========================================================================*/
static void gpio_init(stm32_gpio_t *gpiop, const gpio_setup_t *config) {
static void gpio_init(stm32_gpio_t *gpiop, const gpio_setup_t *config)
{
gpiop->OTYPER = config->otyper;
gpiop->OSPEEDR = config->ospeedr;
@@ -151,12 +189,21 @@ static void gpio_init(stm32_gpio_t *gpiop, const gpio_setup_t *config) {
gpiop->MODER = config->moder;
}
static void stm32_gpio_init(void) {
static void stm32_gpio_init(void)
{
/* Enabling GPIO-related clocks, the mask comes from the
registry header file.*/
#if defined(STM32H7XX)
rccResetAHB4(STM32_GPIO_EN_MASK);
rccEnableAHB4(STM32_GPIO_EN_MASK, true);
#elif defined(STM32F3XX)
rccResetAHB(STM32_GPIO_EN_MASK);
rccEnableAHB(STM32_GPIO_EN_MASK, true);
#else
rccResetAHB1(STM32_GPIO_EN_MASK);
rccEnableAHB1(STM32_GPIO_EN_MASK, true);
#endif
/* Initializing all the defined GPIO ports.*/
#if STM32_HAS_GPIOA
@@ -194,6 +241,8 @@ static void stm32_gpio_init(void) {
#endif
}
#endif /* not STM32F1XX */
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
@@ -207,8 +256,8 @@ static void stm32_gpio_init(void) {
* @details GPIO ports and system clocks are initialized before everything
* else.
*/
void __early_init(void) {
void __early_init(void)
{
stm32_gpio_init();
stm32_clock_init();
}
@@ -217,18 +266,17 @@ void __early_init(void) {
/**
* @brief SDC card detection.
*/
bool sdc_lld_is_card_inserted(SDCDriver *sdcp) {
bool sdc_lld_is_card_inserted(SDCDriver *sdcp)
{
(void)sdcp;
/* assume card is inserted as there is no SD_DETECT pin
* actual detection will be done by the software
*/
return true;
}
/**
* @brief SDC card write protection detection.
*/
bool sdc_lld_is_write_protected(SDCDriver *sdcp) {
bool sdc_lld_is_write_protected(SDCDriver *sdcp)
{
(void)sdcp;
return false;
@@ -239,7 +287,8 @@ bool sdc_lld_is_write_protected(SDCDriver *sdcp) {
/**
* @brief MMC_SPI card detection.
*/
bool mmc_lld_is_card_inserted(MMCDriver *mmcp) {
bool mmc_lld_is_card_inserted(MMCDriver *mmcp)
{
(void)mmcp;
/* TODO: Fill the implementation.*/
@@ -249,7 +298,8 @@ bool mmc_lld_is_card_inserted(MMCDriver *mmcp) {
/**
* @brief MMC_SPI card write protection detection.
*/
bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
bool mmc_lld_is_write_protected(MMCDriver *mmcp)
{
(void)mmcp;
/* TODO: Fill the implementation.*/
@@ -261,17 +311,9 @@ bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
* @brief Board-specific initialization code.
* @todo Add your board-specific code, if any.
*/
void boardInit(void) {
}
/** Energy saving procedure for SD log closing
*/
void mcu_periph_energy_save(void)
void boardInit(void)
{
palSetLineMode(LINE_LED1, PAL_MODE_INPUT);
palSetLineMode(LINE_OSD_CS, PAL_MODE_INPUT);
palSetLineMode(LINE_IMU_CS, PAL_MODE_INPUT);
palSetLineMode(LINE_SDCARD_CS, PAL_MODE_INPUT);
#if defined(AFIO_MAPR_VAL)
AFIO->MAPR |= AFIO_MAPR_VAL;
#endif
}
sw/airborne/arch/chibios/chconf.h
+88 -23
View File
@@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
ChibiOS - Copyright (C) 2006..2020 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
@@ -29,7 +29,27 @@
#define CHCONF_H
#define _CHIBIOS_RT_CONF_
#define _CHIBIOS_RT_CONF_VER_6_1_
#define _CHIBIOS_RT_CONF_VER_7_0_
/*===========================================================================*/
/**
* @name System settings
* @{
*/
/*===========================================================================*/
/**
* @brief Handling of instances.
* @note If enabled then threads assigned to various instances can
* interact each other using the same synchronization objects.
* If disabled then each OS instance is a separate world, no
* direct interactions are handled by the OS.
*/
#if !defined(CH_CFG_SMP_MODE)
#define CH_CFG_SMP_MODE FALSE
#endif
/** @} */
/*===========================================================================*/
/**
@@ -119,6 +139,19 @@
#define CH_CFG_NO_IDLE_THREAD FALSE
#endif
/**
* @brief Kernel hardening level.
* @details This option is the level of functional-safety checks enabled
* in the kerkel. The meaning is:
* - 0: No checks, maximum performance.
* - 1: Reasonable checks.
* - 2: All checks.
* .
*/
#if !defined(CH_CFG_HARDENING_LEVEL)
#define CH_CFG_HARDENING_LEVEL 0
#endif
/** @} */
/*===========================================================================*/
@@ -160,6 +193,16 @@
#define CH_CFG_USE_TM TRUE
#endif
/**
* @brief Time Stamps APIs.
* @details If enabled then the time stamps APIs are included in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_TIMESTAMP)
#define CH_CFG_USE_TIMESTAMP TRUE
#endif
/**
* @brief Threads registry APIs.
* @details If enabled then the registry APIs are included in the kernel.
@@ -330,6 +373,16 @@
#define CH_CFG_USE_MAILBOXES TRUE
#endif
/**
* @brief Memory checks APIs.
* @details If enabled then the memory checks APIs are included in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_MEMCHECKS)
#define CH_CFG_USE_MEMCHECKS TRUE
#endif
/**
* @brief Core Memory Manager APIs.
* @details If enabled then the core memory manager APIs are included
@@ -631,7 +684,7 @@
* @details User fields added to the end of the @p ch_system_t structure.
*/
#define CH_CFG_SYSTEM_EXTRA_FIELDS \
/* Add threads custom fields here.*/
/* Add system custom fields here.*/
/**
* @brief System initialization hook.
@@ -639,7 +692,23 @@
* just before interrupts are enabled globally.
*/
#define CH_CFG_SYSTEM_INIT_HOOK() { \
/* Add threads initialization code here.*/ \
/* Add system initialization code here.*/ \
}
/**
* @brief OS instance structure extension.
* @details User fields added to the end of the @p os_instance_t structure.
*/
#define CH_CFG_OS_INSTANCE_EXTRA_FIELDS \
/* Add OS instance custom fields here.*/
/**
* @brief OS instance initialization hook.
*
* @param[in] oip pointer to the @p os_instance_t structure
*/
#define CH_CFG_OS_INSTANCE_INIT_HOOK(oip) { \
/* Add OS instance initialization code here.*/ \
}
/**
@@ -655,6 +724,8 @@
*
* @note It is invoked from within @p _thread_init() and implicitly from all
* the threads creation APIs.
*
* @param[in] tp pointer to the @p thread_t structure
*/
#define CH_CFG_THREAD_INIT_HOOK(tp) { \
/* Add threads initialization code here.*/ \
@@ -663,6 +734,8 @@
/**
* @brief Threads finalization hook.
* @details User finalization code added to the @p chThdExit() API.
*
* @param[in] tp pointer to the @p thread_t structure
*/
#define CH_CFG_THREAD_EXIT_HOOK(tp) { \
/* Add threads finalization code here.*/ \
@@ -671,6 +744,9 @@
/**
* @brief Context switch hook.
* @details This hook is invoked just before switching between threads.
*
* @param[in] ntp thread being switched in
* @param[in] otp thread being switched out
*/
#define CH_CFG_CONTEXT_SWITCH_HOOK(ntp, otp) { \
/* Context switch code here.*/ \
@@ -745,31 +821,20 @@
/* Trace code here.*/ \
}
/** @} */
/**
* @brief Runtime Faults Collection Unit hook.
* @details This hook is invoked each time new faults are collected and stored.
*/
#define CH_CFG_RUNTIME_FAULTS_HOOK(mask) { \
/* Faults handling code here.*/ \
}
/** @} */
/*===========================================================================*/
/* Port-specific settings (override port settings defaulted in chcore.h). */
/*===========================================================================*/
#ifndef CORTEX_VTOR_INIT // try to find the correct init address if not defined
#if LUFTBOOT // using LUFTBOOT bootloader
#if defined(STM32F4)
#define CORTEX_VTOR_INIT 0x00004000U
#elif defined(STM32F7)
#define CORTEX_VTOR_INIT 0x08008000U
#else
#define CORTEX_VTOR_INIT 0x00002000U
#endif
#endif // LUFTBOOT
#endif // CORTEX_VTOR_INIT
// allow float for the ChibiOS print function (used with logger)
#define CHPRINTF_USE_FLOAT 1
sw/airborne/boards/px4fmu/chibios/v5.0/px4fmu.h → sw/airborne/arch/chibios/common_board.h
+98 -162
View File
@@ -1,21 +1,41 @@
#ifndef CONFIG_PX4FMU_5_00_H
#define CONFIG_PX4FMU_5_00_H
#define BOARD_PX4FMU
/*
* Copyright (C) 2022 Freek van Tienen <freek.v.tienen@gmail.com>
*
* This file is part of Paparazzi.
*
* Paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* Paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/**
* ChibiOS board file
* @file arch/chibios/common_board.h
* @brief Generic board file
*/
#include "boards/px4fmu/chibios/v5.0/board.h"
#ifndef ARCH_COMMON_BOARD_H
#define ARCH_COMMON_BOARD_H
/**
* PPRZ definitions
* ChibiOS board file generated by the cfg file
*/
#include "board.h"
/*
* AHB_CLK
* Concat macro
*/
#define AHB_CLK STM32_HCLK
#define _CONCAT_BOARD_PARAM(_s1, _s2) _s1 ## _s2
#define CONCAT_BOARD_PARAM(_s1, _s2) _CONCAT_BOARD_PARAM(_s1, _s2)
/*
* LEDs
@@ -28,7 +48,6 @@
#define LED_1_GPIO_PIN PAL_PAD(LINE_LED1)
#define LED_1_GPIO_ON gpio_clear
#define LED_1_GPIO_OFF gpio_set
#define LED_1_AFIO_REMAP ((void)0)
#endif
#if defined(LINE_LED2)
@@ -39,7 +58,6 @@
#define LED_2_GPIO_PIN PAL_PAD(LINE_LED2)
#define LED_2_GPIO_ON gpio_clear
#define LED_2_GPIO_OFF gpio_set
#define LED_2_AFIO_REMAP ((void)0)
#endif
#if defined(LINE_LED3)
@@ -50,7 +68,6 @@
#define LED_3_GPIO_PIN PAL_PAD(LINE_LED3)
#define LED_3_GPIO_ON gpio_clear
#define LED_3_GPIO_OFF gpio_set
#define LED_3_AFIO_REMAP ((void)0)
#endif
#if defined(LINE_LED4)
@@ -61,7 +78,6 @@
#define LED_4_GPIO_PIN PAL_PAD(LINE_LED4)
#define LED_4_GPIO_ON gpio_clear
#define LED_4_GPIO_OFF gpio_set
#define LED_4_AFIO_REMAP ((void)0)
#endif
/*
@@ -72,7 +88,11 @@
#define USE_ADC_1 1
#endif
#if USE_ADC_1
#define AD1_1_CHANNEL ADC_CHANNEL_IN0
#if defined(ADC1_ADC_IN)
#define AD1_1_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC1_ADC_IN)
#elif defined(ADC1_ADC_INP)
#define AD1_1_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC1_ADC_INP)
#endif
#define ADC_1 AD1_1
#define ADC_1_GPIO_PORT PAL_PORT(LINE_ADC1)
#define ADC_1_GPIO_PIN PAL_PAD(LINE_ADC1)
@@ -84,7 +104,11 @@
#define USE_ADC_2 1
#endif
#if USE_ADC_2
#define AD1_2_CHANNEL ADC_CHANNEL_IN1
#if defined(ADC2_ADC_IN)
#define AD1_2_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC2_ADC_IN)
#elif defined(ADC2_ADC_INP)
#define AD1_2_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC2_ADC_INP)
#endif
#define ADC_2 AD1_2
#define ADC_2_GPIO_PORT PAL_PORT(LINE_ADC2)
#define ADC_2_GPIO_PIN PAL_PAD(LINE_ADC2)
@@ -96,7 +120,11 @@
#define USE_ADC_3 1
#endif
#if USE_ADC_3
#define AD1_3_CHANNEL ADC_CHANNEL_IN2
#if defined(ADC3_ADC_IN)
#define AD1_3_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC3_ADC_IN)
#elif defined(ADC3_ADC_INP)
#define AD1_3_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC3_ADC_INP)
#endif
#define ADC_3 AD1_3
#define ADC_3_GPIO_PORT PAL_PORT(LINE_ADC3)
#define ADC_3_GPIO_PIN PAL_PAD(LINE_ADC3)
@@ -108,7 +136,11 @@
#define USE_ADC_4 1
#endif
#if USE_ADC_4
#define AD1_4_CHANNEL ADC_CHANNEL_IN3
#if defined(ADC4_ADC_IN)
#define AD1_4_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC4_ADC_IN)
#elif defined(ADC4_ADC_INP)
#define AD1_4_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC4_ADC_INP)
#endif
#define ADC_4 AD1_4
#define ADC_4_GPIO_PORT PAL_PORT(LINE_ADC4)
#define ADC_4_GPIO_PIN PAL_PAD(LINE_ADC4)
@@ -116,8 +148,15 @@
#endif
#if defined(LINE_ADC5)
#ifndef USE_ADC_5
#define USE_ADC_5 1
#endif
#if USE_ADC_5
#define AD1_5_CHANNEL ADC_CHANNEL_IN4
#if defined(ADC5_ADC_IN)
#define AD1_5_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC5_ADC_IN)
#elif defined(ADC5_ADC_INP)
#define AD1_5_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC5_ADC_INP)
#endif
#define ADC_5 AD1_5
#define ADC_5_GPIO_PORT PAL_PORT(LINE_ADC5)
#define ADC_5_GPIO_PIN PAL_PAD(LINE_ADC5)
@@ -126,29 +165,19 @@
#if defined(LINE_ADC6)
#if USE_ADC_6
#define AD1_6_CHANNEL ADC_CHANNEL_IN14
#if defined(ADC6_ADC_IN)
#define AD1_6_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC6_ADC_IN)
#elif defined(ADC6_ADC_INP)
#define AD1_6_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC6_ADC_INP)
#endif
#define ADC_6 AD1_6
#define ADC_6_GPIO_PORT PAL_PORT(LINE_ADC6)
#define ADC_6_GPIO_PIN PAL_PAD(LINE_ADC6)
#endif
#endif
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
#ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY ADC_1
#endif
/* allow to define ADC_CHANNEL_CURRENT in the airframe file*/
#if !defined(ADC_CHANNEL_CURRENT) && !ADC_CURRENT_DISABLE
#define ADC_CHANNEL_CURRENT ADC_2
#endif
/* Default powerbrick values */
#define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f) * 10.3208191126f * adc)
#define MilliAmpereOfAdc(adc) ((3.3f/4096.0f) * 24000.0f * adc)
/*
* PWM defines (TODO DRIVER and CHANNEL)
* PWM defines
*/
#if defined(LINE_SERVO1)
#ifndef USE_PWM1
@@ -159,11 +188,9 @@
#define PWM_SERVO_1_GPIO PAL_PORT(LINE_SERVO1)
#define PWM_SERVO_1_PIN PAL_PAD(LINE_SERVO1)
#define PWM_SERVO_1_AF AF_LINE_SERVO1
#define PWM_SERVO_1_DRIVER PWMD1
#define PWM_SERVO_1_CHANNEL 4-1
#define PWM_SERVO_1_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_1_ACTIVE PWM_OUTPUT_DISABLED
#define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO1_TIM)
#define PWM_SERVO_1_CHANNEL (SERVO1_TIM_CH-1)
#define PWM_SERVO_1_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO1_TIM)
#endif
#endif
@@ -176,11 +203,9 @@
#define PWM_SERVO_2_GPIO PAL_PORT(LINE_SERVO2)
#define PWM_SERVO_2_PIN PAL_PAD(LINE_SERVO2)
#define PWM_SERVO_2_AF AF_LINE_SERVO2
#define PWM_SERVO_2_DRIVER PWMD1
#define PWM_SERVO_2_CHANNEL 3-1
#define PWM_SERVO_2_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_2_ACTIVE PWM_OUTPUT_DISABLED
#define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO2_TIM)
#define PWM_SERVO_2_CHANNEL (SERVO2_TIM_CH-1)
#define PWM_SERVO_2_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO2_TIM)
#endif
#endif
@@ -193,11 +218,9 @@
#define PWM_SERVO_3_GPIO PAL_PORT(LINE_SERVO3)
#define PWM_SERVO_3_PIN PAL_PAD(LINE_SERVO3)
#define PWM_SERVO_3_AF AF_LINE_SERVO3
#define PWM_SERVO_3_DRIVER PWMD1
#define PWM_SERVO_3_CHANNEL 2-1
#define PWM_SERVO_3_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_3_ACTIVE PWM_OUTPUT_DISABLED
#define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO3_TIM)
#define PWM_SERVO_3_CHANNEL (SERVO3_TIM_CH-1)
#define PWM_SERVO_3_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO3_TIM)
#endif
#endif
@@ -210,11 +233,9 @@
#define PWM_SERVO_4_GPIO PAL_PORT(LINE_SERVO4)
#define PWM_SERVO_4_PIN PAL_PAD(LINE_SERVO4)
#define PWM_SERVO_4_AF AF_LINE_SERVO4
#define PWM_SERVO_4_DRIVER PWMD1
#define PWM_SERVO_4_CHANNEL 1-1
#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_DISABLED
#define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO4_TIM)
#define PWM_SERVO_4_CHANNEL (SERVO4_TIM_CH-1)
#define PWM_SERVO_4_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO4_TIM)
#endif
#endif
@@ -227,11 +248,9 @@
#define PWM_SERVO_5_GPIO PAL_PORT(LINE_SERVO5)
#define PWM_SERVO_5_PIN PAL_PAD(LINE_SERVO5)
#define PWM_SERVO_5_AF AF_LINE_SERVO5
#define PWM_SERVO_5_DRIVER PWMD4
#define PWM_SERVO_5_CHANNEL 2-1
#define PWM_SERVO_5_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_5_ACTIVE PWM_OUTPUT_DISABLED
#define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO5_TIM)
#define PWM_SERVO_5_CHANNEL (SERVO5_TIM_CH-1)
#define PWM_SERVO_5_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO5_TIM)
#endif
#endif
@@ -244,11 +263,9 @@
#define PWM_SERVO_6_GPIO PAL_PORT(LINE_SERVO6)
#define PWM_SERVO_6_PIN PAL_PAD(LINE_SERVO6)
#define PWM_SERVO_6_AF AF_LINE_SERVO6
#define PWM_SERVO_6_DRIVER PWMD4
#define PWM_SERVO_6_CHANNEL 3-1
#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_DISABLED
#define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO6_TIM)
#define PWM_SERVO_6_CHANNEL (SERVO6_TIM_CH-1)
#define PWM_SERVO_6_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO6_TIM)
#endif
#endif
@@ -261,11 +278,9 @@
#define PWM_SERVO_7_GPIO PAL_PORT(LINE_SERVO7)
#define PWM_SERVO_7_PIN PAL_PAD(LINE_SERVO7)
#define PWM_SERVO_7_AF AF_LINE_SERVO7
#define PWM_SERVO_7_DRIVER PWMD12
#define PWM_SERVO_7_CHANNEL 1-1
#define PWM_SERVO_7_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_7_ACTIVE PWM_OUTPUT_DISABLED
#define PWM_SERVO_7_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO7_TIM)
#define PWM_SERVO_7_CHANNEL (SERVO7_TIM_CH-1)
#define PWM_SERVO_7_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO7_TIM)
#endif
#endif
@@ -278,80 +293,12 @@
#define PWM_SERVO_8_GPIO PAL_PORT(LINE_SERVO8)
#define PWM_SERVO_8_PIN PAL_PAD(LINE_SERVO8)
#define PWM_SERVO_8_AF AF_LINE_SERVO8
#define PWM_SERVO_8_DRIVER PWMD12
#define PWM_SERVO_8_CHANNEL 2-1
#define PWM_SERVO_8_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_8_ACTIVE PWM_OUTPUT_DISABLED
#define PWM_SERVO_8_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO8_TIM)
#define PWM_SERVO_8_CHANNEL (SERVO8_TIM_CH-1)
#define PWM_SERVO_8_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO8_TIM)
#endif
#endif
#ifdef STM32_PWM_USE_TIM1
#define PWM_CONF_TIM1 STM32_PWM_USE_TIM1
#else
#define PWM_CONF_TIM1 1
#endif
#define PWM_CONF1_DEF { \
PWM_FREQUENCY, \
PWM_FREQUENCY/TIM1_SERVO_HZ, \
NULL, \
{ \
{ PWM_SERVO_4_ACTIVE, NULL }, \
{ PWM_SERVO_3_ACTIVE, NULL }, \
{ PWM_SERVO_2_ACTIVE, NULL }, \
{ PWM_SERVO_1_ACTIVE, NULL }, \
}, \
0, \
0 \
}
#ifdef STM32_PWM_USE_TIM4
#define PWM_CONF_TIM4 STM32_PWM_USE_TIM4
#else
#define PWM_CONF_TIM4 1
#endif
#define PWM_CONF4_DEF { \
PWM_FREQUENCY, \
PWM_FREQUENCY/TIM4_SERVO_HZ, \
NULL, \
{ \
{ PWM_OUTPUT_DISABLED, NULL }, \
{ PWM_SERVO_5_ACTIVE, NULL }, \
{ PWM_SERVO_6_ACTIVE, NULL }, \
{ PWM_OUTPUT_DISABLED, NULL }, \
}, \
0, \
0 \
}
#ifdef STM32_PWM_USE_TIM12
#define PWM_CONF_TIM12 STM32_PWM_USE_TIM12
#else
#define PWM_CONF_TIM12 1
#endif
#define PWM_CONF12_DEF { \
PWM_FREQUENCY, \
PWM_FREQUENCY/TIM12_SERVO_HZ, \
NULL, \
{ \
{ PWM_SERVO_7_ACTIVE, NULL }, \
{ PWM_SERVO_8_ACTIVE, NULL }, \
{ PWM_OUTPUT_DISABLED, NULL }, \
{ PWM_OUTPUT_DISABLED, NULL }, \
}, \
0, \
0 \
}
/**
* PPM radio defines
*/
#define RC_PPM_TICKS_PER_USEC 2
#define PPM_TIMER_FREQUENCY 2000000
#define PPM_CHANNEL ICU_CHANNEL_1
#define PPM_TIMER ICUD8
/**
* UART defines
*/
@@ -483,9 +430,6 @@
#define UART8_GPIO_AF ((void)0)
#endif
/**
* I2C defines
*/
/**
* I2C defines
*/
@@ -700,14 +644,14 @@
#define SPI_SELECT_SLAVE6_PIN PAL_PAD(LINE_SPI_SLAVE6)
#endif
/**
* Baro
*
* Apparently needed for backwards compatibility
* with the ancient onboard baro boards
*/
#ifndef USE_BARO_BOARD
#define USE_BARO_BOARD 1
#if defined(LINE_SPI_SLAVE7)
#define SPI_SELECT_SLAVE7_PORT PAL_PORT(LINE_SPI_SLAVE7)
#define SPI_SELECT_SLAVE7_PIN PAL_PAD(LINE_SPI_SLAVE7)
#endif
#if defined(LINE_SPI_SLAVE8)
#define SPI_SELECT_SLAVE8_PORT PAL_PORT(LINE_SPI_SLAVE8)
#define SPI_SELECT_SLAVE8_PIN PAL_PAD(LINE_SPI_SLAVE8)
#endif
/**
@@ -737,16 +681,9 @@
#if defined(LINE_USB_VBUS)
#define SDLOG_USB_VBUS_PORT PAL_PORT(LINE_USB_VBUS)
#define SDLOG_USB_VBUS_PIN PAL_PAD(LINE_USB_VBUS)
#define SDLOG_USB_VBUS_BOOT true
#define SDLOG_USB_VBUS_BOOT false
#endif
// bat monitoring for file closing
#define SDLOG_BAT_ADC ADCD1
#define SDLOG_BAT_CHAN AD1_1_CHANNEL
// usb led status
#define SDLOG_USB_LED 3
/*
* Actuators for fixedwing
*/
@@ -756,5 +693,4 @@
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
#endif /* CONFIG_PX4FMU_4_00_H */
#endif /* ARCH_COMMON_BOARD_H */
sw/airborne/arch/chibios/ffconf.h
+69 -60
View File
@@ -1,11 +1,12 @@
/* CHIBIOS FIX */
#include "ch.h"
#define FATFS_CHIBIOS_EXTENSIONS
/*---------------------------------------------------------------------------/
/ FatFs - FAT file system module configuration file
/ FatFs Functional Configurations
/---------------------------------------------------------------------------*/
#define FFCONF_DEF 86606 /* Revision ID */
#define FFCONF_DEF 86631 /* Revision ID */
/*---------------------------------------------------------------------------/
/ Function Configurations
@@ -28,55 +29,69 @@
/ 3: f_lseek() function is removed in addition to 2. */
#define FF_USE_STRFUNC 0
/* This option switches string functions, f_gets(), f_putc(), f_puts() and
/ f_printf().
/
/ 0: Disable string functions.
/ 1: Enable without LF-CRLF conversion.
/ 2: Enable with LF-CRLF conversion. */
#define FF_USE_FIND 1
#define FF_USE_FIND 1
/* This option switches filtered directory read functions, f_findfirst() and
/ f_findnext(). (0:Disable, 1:Enable 2:Enable with matching altname[] too) */
#define FF_USE_MKFS 1
#define FF_USE_MKFS 1
/* This option switches f_mkfs() function. (0:Disable or 1:Enable) */
#define FF_USE_FASTSEEK 1
#define FF_USE_FASTSEEK 1
/* This option switches fast seek function. (0:Disable or 1:Enable) */
#define FF_USE_EXPAND 1
#define FF_USE_EXPAND 1
/* This option switches f_expand function. (0:Disable or 1:Enable) */
#define FF_USE_CHMOD 1
#define FF_USE_CHMOD 1
/* This option switches attribute manipulation functions, f_chmod() and f_utime().
/ (0:Disable or 1:Enable) Also FF_FS_READONLY needs to be 0 to enable this option. */
#define FF_USE_LABEL 1
#define FF_USE_LABEL 1
/* This option switches volume label functions, f_getlabel() and f_setlabel().
/ (0:Disable or 1:Enable) */
#define FF_USE_FORWARD 1
#define FF_USE_FORWARD 1
/* This option switches f_forward() function. (0:Disable or 1:Enable) */
#define FF_USE_STRFUNC 0
#define FF_PRINT_LLI 0
#define FF_PRINT_FLOAT 0
#define FF_STRF_ENCODE 0
/* FF_USE_STRFUNC switches string functions, f_gets(), f_putc(), f_puts() and
/ f_printf().
/
/ 0: Disable. FF_PRINT_LLI, FF_PRINT_FLOAT and FF_STRF_ENCODE have no effect.
/ 1: Enable without LF-CRLF conversion.
/ 2: Enable with LF-CRLF conversion.
/
/ FF_PRINT_LLI = 1 makes f_printf() support long long argument and FF_PRINT_FLOAT = 1/2
makes f_printf() support floating point argument. These features want C99 or later.
/ When FF_LFN_UNICODE >= 1 with LFN enabled, string functions convert the character
/ encoding in it. FF_STRF_ENCODE selects assumption of character encoding ON THE FILE
/ to be read/written via those functions.
/
/ 0: ANSI/OEM in current CP
/ 1: Unicode in UTF-16LE
/ 2: Unicode in UTF-16BE
/ 3: Unicode in UTF-8
*/
/*---------------------------------------------------------------------------/
/ Locale and Namespace Configurations
/---------------------------------------------------------------------------*/
#define FF_CODE_PAGE 850
#define FF_CODE_PAGE 850
/* This option specifies the OEM code page to be used on the target system.
/ Incorrect setting of the code page can cause a file open failure.
/ Incorrect code page setting can cause a file open failure.
/
/ 1 - ASCII (No extended character. Non-LFN cfg. only)
/ 437 - U.S.
/ 720 - Arabic
/ 737 - Greek
@@ -98,31 +113,40 @@
/ 936 - Simplified Chinese (DBCS)
/ 949 - Korean (DBCS)
/ 950 - Traditional Chinese (DBCS)
/ 0 - Include all code pages above and configured by f_setcp()
*/
#define FF_USE_LFN 2
#define FF_MAX_LFN 255
/* The FF_USE_LFN switches the support of long file name (LFN).
#define FF_USE_LFN 2
#define FF_MAX_LFN 255
/* The FF_USE_LFN switches the support for LFN (long file name).
/
/ 0: Disable support of LFN. _MAX_LFN has no effect.
/ 1: Enable LFN with static working buffer on the BSS. Always NOT thread-safe.
/ 0: Disable LFN. FF_MAX_LFN has no effect.
/ 1: Enable LFN with static working buffer on the BSS. Always NOT thread-safe.
/ 2: Enable LFN with dynamic working buffer on the STACK.
/ 3: Enable LFN with dynamic working buffer on the HEAP.
/
/ To enable the LFN, Unicode handling functions (option/unicode.c) must be added
/ to the project. The working buffer occupies (_MAX_LFN + 1) * 2 bytes and
/ additional 608 bytes at exFAT enabled. _MAX_LFN can be in range from 12 to 255.
/ It should be set 255 to support full featured LFN operations.
/ To enable the LFN, ffunicode.c needs to be added to the project. The LFN function
/ requiers certain internal working buffer occupies (FF_MAX_LFN + 1) * 2 bytes and
/ additional (FF_MAX_LFN + 44) / 15 * 32 bytes when exFAT is enabled.
/ The FF_MAX_LFN defines size of the working buffer in UTF-16 code unit and it can
/ be in range of 12 to 255. It is recommended to be set it 255 to fully support LFN
/ specification.
/ When use stack for the working buffer, take care on stack overflow. When use heap
/ memory for the working buffer, memory management functions, ff_memalloc() and
/ ff_memfree(), must be added to the project. */
/ ff_memfree() exemplified in ffsystem.c, need to be added to the project. */
#define FF_LFN_UNICODE 0
/* This option switches character encoding on the API. (0:ANSI/OEM or 1:UTF-16)
/ To use Unicode string for the path name, enable LFN and set _LFN_UNICODE = 1.
/ This option also affects behavior of string I/O functions. */
#define FF_LFN_UNICODE 0
/* This option switches the character encoding on the API when LFN is enabled.
/
/ 0: ANSI/OEM in current CP (TCHAR = char)
/ 1: Unicode in UTF-16 (TCHAR = WCHAR)
/ 2: Unicode in UTF-8 (TCHAR = char)
/ 3: Unicode in UTF-32 (TCHAR = DWORD)
/
/ Also behavior of string I/O functions will be affected by this option.
/ When LFN is not enabled, this option has no effect. */
#define FF_LFN_BUF 255
@@ -133,22 +157,8 @@
/ on character encoding. When LFN is not enabled, these options have no effect. */
#define FF_STRF_ENCODE 3
/* When FF_LFN_UNICODE >= 1 with LFN enabled, string I/O functions, f_gets(),
/ f_putc(), f_puts and f_printf() convert the character encoding in it.
/ This option selects assumption of character encoding ON THE FILE to be
/ read/written via those functions.
/
/ 0: ANSI/OEM
/ 1: UTF-16LE
/ 2: UTF-16BE
/ 3: UTF-8
/
/ This option has no effect when _LFN_UNICODE == 0. */
#define FF_FS_RPATH 1
/* This option configures support of relative path.
#define FF_FS_RPATH 1
/* This option configures support for relative path.
/
/ 0: Disable relative path and remove related functions.
/ 1: Enable relative path. f_chdir() and f_chdrive() are available.
@@ -160,8 +170,8 @@
/ Drive/Volume Configurations
/---------------------------------------------------------------------------*/
#define FF_VOLUMES 1
/* Number of volumes (logical drives) to be used. */
#define FF_VOLUMES 1
/* Number of volumes (logical drives) to be used. (1-10) */
#define FF_STR_VOLUME_ID 0
@@ -191,7 +201,7 @@
#define FF_MAX_SS 512
/* This set of options configures the range of sector size to be supported. (512,
/ 1024, 2048 or 4096) Always set both 512 for most systems, generic memory card and
/ harddisk. But a larger value may be required for on-board flash memory and some
/ harddisk, but a larger value may be required for on-board flash memory and some
/ type of optical media. When FF_MAX_SS is larger than FF_MIN_SS, FatFs is configured
/ for variable sector size mode and disk_ioctl() function needs to implement
/ GET_SECTOR_SIZE command. */
@@ -203,7 +213,7 @@
#define FF_MIN_GPT 0x100000000
/* Minimum number of sectors to switch GPT format to create partition in f_mkfs and
/* Minimum number of sectors to switch GPT as partitioning format in f_mkfs and
/ f_fdisk function. 0x100000000 max. This option has no effect when FF_LBA64 == 0. */
@@ -234,7 +244,7 @@
#define FF_FS_NORTC 0
#define FF_NORTC_MON 1
#define FF_NORTC_MDAY 1
#define FF_NORTC_YEAR 2019
#define FF_NORTC_YEAR 2020
/* The option FF_FS_NORTC switches timestamp functiton. If the system does not have
/ any RTC function or valid timestamp is not needed, set FF_FS_NORTC = 1 to disable
/ the timestamp function. Every object modified by FatFs will have a fixed timestamp
@@ -278,18 +288,17 @@
/ and f_fdisk() function, are always not re-entrant. Only file/directory access
/ to the same volume is under control of this function.
/
/ 0: Disable re-entrancy. FF_FS_TIMEOUT and _SYNC_t have no effect.
/ 0: Disable re-entrancy. FF_FS_TIMEOUT and FF_SYNC_t have no effect.
/ 1: Enable re-entrancy. Also user provided synchronization handlers,
/ ff_req_grant(), ff_rel_grant(), ff_del_syncobj() and ff_cre_syncobj()
/ function, must be added to the project. Samples are available in
/ option/syscall.c.
/
/ The FF_FS_TIMEOUT defines timeout period in unit of time tick.
/ The _SYNC_t defines O/S dependent sync object type. e.g. HANDLE, ID, OS_EVENT*,
/ SemaphoreHandle_t and etc.. A header file for O/S definitions needs to be
/ The FF_SYNC_t defines O/S dependent sync object type. e.g. HANDLE, ID, OS_EVENT*,
/ SemaphoreHandle_t and etc. A header file for O/S definitions needs to be
/ included somewhere in the scope of ff.h. */
/* #include <windows.h> // O/S definitions */
/*--- End of configuration options ---*/
sw/airborne/arch/chibios/halconf.h
+45 -38
View File
@@ -1,13 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
modified by: AggieAir, A Remote Sensing Unmanned Aerial System for Scientific Applications
Utah State University, http://aggieair.usu.edu/
Michal Podhradsky (michal.podhradsky@aggiemail.usu.edu)
Calvin Coopmans (c.r.coopmans@ieee.org)
modified by Gautier Hattenberger for STM32F7 support
ChibiOS - Copyright (C) 2006..2020 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
@@ -37,7 +29,7 @@
#define HALCONF_H
#define _CHIBIOS_HAL_CONF_
#define _CHIBIOS_HAL_CONF_VER_7_1_
#define _CHIBIOS_HAL_CONF_VER_8_0_
#include "mcuconf.h"
@@ -45,7 +37,7 @@
* @brief Enables the PAL subsystem.
*/
#if !defined(HAL_USE_PAL) || defined(__DOXYGEN__)
#define HAL_USE_PAL TRUE
#define HAL_USE_PAL TRUE
#endif
/**
@@ -53,9 +45,9 @@
*/
#if !defined(HAL_USE_ADC) || defined(__DOXYGEN__)
#if USE_ADC
#define HAL_USE_ADC TRUE
#define HAL_USE_ADC TRUE
#else
#define HAL_USE_ADC FALSE
#define HAL_USE_ADC FALSE
#endif
#endif
@@ -64,9 +56,9 @@
*/
#if !defined(HAL_USE_CAN) || defined(__DOXYGEN__)
#if USE_CAN1 || USE_CAN2
#define HAL_USE_CAN TRUE
#define HAL_USE_CAN TRUE
#else
#define HAL_USE_CAN FALSE
#define HAL_USE_CAN FALSE
#endif
#endif
@@ -82,9 +74,9 @@
*/
#if !defined(HAL_USE_DAC) || defined(__DOXYGEN__)
#if USE_DAC1 || USE_DAC2
#define HAL_USE_DAC TRUE
#define HAL_USE_DAC TRUE
#else
#define HAL_USE_DAC FALSE
#define HAL_USE_DAC FALSE
#endif
#endif
@@ -107,9 +99,9 @@
*/
#if !defined(HAL_USE_I2C) || defined(__DOXYGEN__)
#if USE_I2C1 || USE_I2C2 || USE_I2C3 || USE_I2C4
#define HAL_USE_I2C TRUE
#define HAL_USE_I2C TRUE
#else
#define HAL_USE_I2C FALSE
#define HAL_USE_I2C FALSE
#endif
#endif
@@ -122,16 +114,12 @@
/**
* @brief Enables the ICU subsystem.
* NOTE: ICU is needed form PPM and Spektrum radio
* Maybe also for Superbit. Leave default TRUE for now
* Might have to be changed to
* ifdef RADIO_CONTROL_TYPE_PPM then TRUE, otherwise FALSE
*/
#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
#if RADIO_CONTROL_TYPE_PPM || USE_PWM_INPUT || defined USE_PWM_INPUT1 || defined USE_PWM_INPUT2
#define HAL_USE_ICU TRUE
#if RADIO_CONTROL_TYPE_PPM || USE_PWM_INPUT || defined(USE_PWM_INPUT1) || defined(USE_PWM_INPUT2)
#define HAL_USE_ICU TRUE
#else
#define HAL_USE_ICU FALSE
#define HAL_USE_ICU FALSE
#endif
#endif
@@ -175,9 +163,9 @@
*/
#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
#if USE_UART1 || USE_UART2 || USE_UART3 || USE_UART4 || USE_UART5 || USE_UART6 || USE_UART7 || USE_UART8
#define HAL_USE_SERIAL TRUE
#define HAL_USE_SERIAL TRUE
#else
#define HAL_USE_SERIAL FALSE
#define HAL_USE_SERIAL FALSE
#endif
#endif
@@ -186,9 +174,9 @@
*/
#if !defined(HAL_USE_SERIAL_USB) || defined(__DOXYGEN__)
#if USE_USB_SERIAL
#define HAL_USE_SERIAL_USB TRUE
#define HAL_USE_SERIAL_USB TRUE
#else
#define HAL_USE_SERIAL_USB FALSE
#define HAL_USE_SERIAL_USB FALSE
#endif
#endif
@@ -204,9 +192,9 @@
*/
#if !defined(HAL_USE_SPI) || defined(__DOXYGEN__)
#if USE_SPI
#define HAL_USE_SPI TRUE
#define HAL_USE_SPI TRUE
#else
#define HAL_USE_SPI FALSE
#define HAL_USE_SPI FALSE
#endif
#endif
@@ -229,9 +217,9 @@
*/
#if !defined(HAL_USE_USB) || defined(__DOXYGEN__)
#if USE_USB_SERIAL
#define HAL_USE_USB TRUE
#define HAL_USE_USB TRUE
#else
#define HAL_USE_USB FALSE
#define HAL_USE_USB FALSE
#endif
#endif
@@ -463,6 +451,26 @@
#define SERIAL_BUFFERS_SIZE 1024
#endif
/*===========================================================================*/
/* SIO driver related settings. */
/*===========================================================================*/
/**
* @brief Default bit rate.
* @details Configuration parameter, this is the baud rate selected for the
* default configuration.
*/
#if !defined(SIO_DEFAULT_BITRATE) || defined(__DOXYGEN__)
#define SIO_DEFAULT_BITRATE 38400
#endif
/**
* @brief Support for thread synchronization API.
*/
#if !defined(SIO_USE_SYNCHRONIZATION) || defined(__DOXYGEN__)
#define SIO_USE_SYNCHRONIZATION TRUE
#endif
/*===========================================================================*/
/* SERIAL_USB driver related setting. */
/*===========================================================================*/
@@ -499,11 +507,10 @@
#endif
/**
* @brief Enables circular transfers APIs.
* @note Disabling this option saves both code and data space.
* @brief Inserts an assertion on function errors before returning.
*/
#if !defined(SPI_USE_CIRCULAR) || defined(__DOXYGEN__)
#define SPI_USE_CIRCULAR FALSE
#if !defined(SPI_USE_ASSERT_ON_ERROR) || defined(__DOXYGEN__)
#define SPI_USE_ASSERT_ON_ERROR TRUE
#endif
/**
sw/airborne/arch/chibios/mcu_arch.c
+20 -13
View File
@@ -41,7 +41,7 @@
#if USE_HARD_FAULT_RECOVERY
#if defined STM32F4 || defined STM32F7
#if defined(STM32F4XX) || defined (STM32F7XX)
#define BCKP_SECTION ".ram5"
#define IN_BCKP_SECTION(var) var __attribute__ ((section(BCKP_SECTION), aligned(8)))
#else
@@ -87,11 +87,11 @@ CH_IRQ_HANDLER(UsageFault_Handler)
bool recovering_from_hard_fault;
// select correct register
#if defined STM32F4
#if defined(STM32F4XX)
#define __PWR_CSR PWR->CSR
#define __PWR_CSR_BRE PWR_CSR_BRE
#define __PWR_CSR_BRR PWR_CSR_BRR
#elif defined STM32F7
#elif defined(STM32F7XX)
#define __PWR_CSR PWR->CSR1
#define __PWR_CSR_BRE PWR_CSR1_BRE
#define __PWR_CSR_BRR PWR_CSR1_BRR
@@ -108,11 +108,6 @@ bool recovering_from_hard_fault;
*/
void mcu_arch_init(void)
{
#if LUFTBOOT
PRINT_CONFIG_MSG("We are running luftboot, the interrupt vector is being relocated.")
SCB->VTOR = CORTEX_VTOR_INIT;
#endif
/*
* System initializations.
* - HAL initialization, this also initializes the configured device drivers
@@ -125,11 +120,11 @@ void mcu_arch_init(void)
#if USE_HARD_FAULT_RECOVERY
/* Backup domain SRAM enable, and with it, the regulator */
#if defined STM32F4 || defined STM32F7
#if defined(STM32F4XX) || defined(STM32F7XX)
RCC->AHB1ENR |= RCC_AHB1ENR_BKPSRAMEN;
__PWR_CSR |= __PWR_CSR_BRE;
while ((__PWR_CSR & __PWR_CSR_BRR) == 0) ; /* Waits until the regulator is stable */
#endif /* STM32F4 | STM32F7*/
#endif /* STM32F4 | STM32F7 */
// test if last reset was a 'real' hard fault
recovering_from_hard_fault = false;
@@ -151,9 +146,21 @@ void mcu_arch_init(void)
}
void WEAK mcu_periph_energy_save(void)
/**
* @brief Save energy for performing operations on shutdown
* Used for example to shutdown SD-card logging
*/
void mcu_periph_energy_save(void)
{
// Default empty implementation
// see board.c file
#if defined(ENERGY_SAVE_INPUTS)
BOARD_GROUP_DECLFOREACH(input_line, ENERGY_SAVE_INPUTS) {
palSetLineMode(input_line, PAL_MODE_INPUT);
}
#endif
#if defined(ENERGY_SAVE_LOWS)
BOARD_GROUP_DECLFOREACH(input_low, ENERGY_SAVE_LOWS) {
palClearLine(input_low);
}
#endif
}
sw/airborne/arch/chibios/mcu_arch.h
+7 -2
View File
@@ -51,16 +51,21 @@ extern bool recovering_from_hard_fault;
*/
static inline void mcu_deep_sleep(void)
{
#if defined STM32F4
#if defined(STM32F4XX)
/* clear PDDS and LPDS bits */
PWR->CR &= ~(PWR_CR_PDDS | PWR_CR_LPDS);
/* set LPDS and clear */
PWR->CR |= (PWR_CR_LPDS | PWR_CR_CSBF | PWR_CR_CWUF);
#elif defined STM32F7
#elif defined(STM32F7XX)
/* clear PDDS and LPDS bits */
PWR->CR1 &= ~(PWR_CR1_PDDS | PWR_CR1_LPDS);
/* set LPDS and clear */
PWR->CR1 |= (PWR_CR1_LPDS | PWR_CR1_CSBF);
#elif defined(STM32H7XX)
/* clear LPDS */
PWR->CR1 &= ~PWR_CR1_LPDS;
/* set LPDS */
PWR->CR1 |= PWR_CR1_LPDS;
#endif
/* Setup the deepsleep mask */
sw/airborne/arch/chibios/mcu_periph/adc_arch.c
+74 -97
View File
@@ -48,7 +48,7 @@
* Then only every second channel is really read. Might be fixed in next version
* of ChibiOS
*
* V_ref is 3.3V, ADC has 12bit resolution.
* V_ref is 3.3V, ADC has 12bit or 16bit resolution.
*/
#include "mcu_periph/adc.h"
#include "mcu_periph/gpio.h"
@@ -66,22 +66,16 @@
///#endif
// architecture dependent settings
#if defined(__STM32F10x_H) || defined(__STM32F105xC_H) || defined (__STM32F107xC_H)
// STM32F1xx
#define ADC_SAMPLE_RATE ADC_SAMPLE_41P5
#define ADC_CR2_CFG ADC_CR2_TSVREFE
#elif defined(__STM32F4xx_H) || defined(__STM32F7xx_H)
// STM32F4xx | STM32F7xx
#define ADC_SAMPLE_RATE ADC_SAMPLE_480
#define ADC_CR2_CFG ADC_CR2_SWSTART
#elif defined(__STM32F373xC_H)
#define ADC_SAMPLE_RATE ADC_SAMPLE_239P5
#define ADC_CR2_CFG ADC_CR2_SWSTART
#elif defined(__STM32F3xx_H)
/* Set the default sample rate */
#if !defined(ADC_SAMPLE_RATE)
#if defined(STM32H7XX)
#define ADC_SAMPLE_RATE ADC_SMPR_SMP_384P5
#elif defined(STM32F3XX)
#define ADC_SAMPLE_RATE ADC_SMPR_SMP_601P5
#else
#define ADC_SAMPLE_RATE ADC_SAMPLE_480
#endif
#endif
// Create channel map
static const uint8_t adc_channel_map[ADC_NUM_CHANNELS] = {
@@ -143,9 +137,10 @@ ADCDriver *adcp_err = NULL;
#ifndef ADC_BUF_DEPTH
#define ADC_BUF_DEPTH (MAX_AV_NB_SAMPLE/2)
#endif
static IN_DMA_SECTION(adcsample_t adc_samples[ADC_NUM_CHANNELS * ADC_BUF_DEPTH]);
static IN_DMA_SECTION(adcsample_t adc_samples[ADC_NUM_CHANNELS * MAX_AV_NB_SAMPLE]);
#if USE_AD1
static ADCConversionGroup adc1_group;
static struct adc_buf *adc1_buffers[ADC_NUM_CHANNELS];
static uint32_t adc1_sum_tmp[ADC_NUM_CHANNELS];
static uint8_t adc1_samples_tmp[ADC_NUM_CHANNELS];
@@ -167,46 +162,70 @@ static struct {
} adc_watchdog;
#endif
// From libopencm3
static void adc_regular_sequence(uint32_t *sqr1, uint32_t *sqr2, uint32_t *sqr3, uint8_t length, const uint8_t channel[])
/**
* @brief Configure the ADC conversion group depending on the architecture
*
* @param cfg The configuration to be set
* @param num_channels The number of channels in the ADC
* @param channels The channel mapping to real channels
* @param sample_rate The sample rate for all channels
* @param end_cb The callback function at the end of conversion
* @param error_cb The callback function whenever an error occurs
*/
static void adc_configure(ADCConversionGroup *cfg, uint8_t num_channels, const uint8_t channels[], uint32_t sample_rate,
adccallback_t end_cb, adcerrorcallback_t error_cb)
{
uint32_t first6 = 0;
uint32_t second6 = 0;
uint32_t third6 = ADC_SQR1_NUM_CH(length);
uint8_t i = 0;
// Set the general configuration
cfg->circular = true;
cfg->num_channels = num_channels;
cfg->end_cb = end_cb;
cfg->error_cb = error_cb;
for (i = 1; i <= length; i++) {
if (i <= 6) {
first6 |= (channel[i - 1] << ((i - 1) * 5));
// Set to 16bits by default else try 12bit
#if defined(ADC_CFGR_RES_16BITS)
cfg->cfgr = ADC_CFGR_CONT | ADC_CFGR_RES_16BITS;
#elif defined(ADC_CFGR_RES_12BITS)
cfg->cfgr = ADC_CFGR_CONT | ADC_CFGR_RES_12BITS;
#else
cfg->sqr1 = ADC_SQR1_NUM_CH(num_channels);
cfg->cr2 = ADC_CR2_SWSTART;
#if defined(ADC_CR2_TSVREFE)
cfg->cr2 |= ADC_CR2_TSVREFE;
#endif
#endif
// Go through all the channels
for (uint8_t i = 0; i < num_channels; i++) {
uint8_t chan = channels[i];
#if defined(STM32H7XX) || defined(STM32F3XX) || defined(STM32G4XX) || defined(STM32L4XX)
cfg->pcsel |= (1 << chan);
cfg->smpr[chan / 10] |= sample_rate << (3 << (chan % 10));
if (i < 4) {
cfg->sqr[0] |= chan << (6 * (i + 1));
} else if (i < 9) {
cfg->sqr[1] |= chan << (6 * (i - 4));
} else {
cfg->sqr[2] |= chan << (6 * (i - 9));
}
if ((i > 6) && (i <= 12)) {
second6 |= (channel[i - 1] << ((i - 6 - 1) * 5));
#else
if (chan < 10) {
cfg->smpr2 |= sample_rate << (3 * chan);
} else {
cfg->smpr1 |= sample_rate << (3 * (chan - 10));
}
if ((i > 12) && (i <= 18)) {
third6 |= (channel[i - 1] << ((i - 12 - 1) * 5));
if (i < 6) {
cfg->sqr3 |= chan << (5 * i);
} else if (i < 12) {
cfg->sqr2 |= chan << (5 * (i - 6));
} else {
cfg->sqr3 |= chan << (5 * (i - 12));
}
#endif
}
*sqr3 = first6;
*sqr2 = second6;
*sqr1 = third6;
}
// From libopencm3
static void adc_sample_time_on_all_channels(uint32_t *smpr1, uint32_t *smpr2, uint8_t time)
{
uint8_t i;
uint32_t reg32 = 0;
for (i = 0; i <= 9; i++) {
reg32 |= (time << (i * 3));
}
*smpr2 = reg32;
reg32 = 0;
for (i = 10; i <= 17; i++) {
reg32 |= (time << ((i - 10) * 3));
}
*smpr1 = reg32;
}
/**
@@ -231,7 +250,8 @@ void adc1callback(ADCDriver *adcp)
// half buffer start in the middle of buffer, else, is start at
// beginiing of buffer
const adcsample_t *buffer = adc_samples + (adcIsBufferComplete(adcp) ?
n * ADC_NUM_CHANNELS : 0U);
n *ADC_NUM_CHANNELS : 0U);
cacheBufferInvalidate(adc_samples, sizeof(adc_samples));
for (int channel = 0; channel < ADC_NUM_CHANNELS; channel++) {
if (adc1_buffers[channel] != NULL) {
@@ -304,12 +324,6 @@ void adc_buf_channel(uint8_t adc_channel, struct adc_buf *s, uint8_t av_nb_sampl
}
}
/**
* Configuration structure
* must be global
*/
static ADCConversionGroup adcgrpcfg;
/**
* Adc init
*
@@ -356,13 +370,6 @@ void adc_init(void)
gpio_setup_pin_analog(ADC_9_GPIO_PORT, ADC_9_GPIO_PIN);
#endif
// Configuration register
uint32_t sqr1, sqr2, sqr3;
adc_regular_sequence(&sqr1, &sqr2, &sqr3, ADC_NUM_CHANNELS, adc_channel_map);
uint32_t smpr1, smpr2;
adc_sample_time_on_all_channels(&smpr1, &smpr2, ADC_SAMPLE_RATE);
#if USE_ADC_WATCHDOG
adc_watchdog.adc = NULL;
adc_watchdog.cb = NULL;
@@ -370,42 +377,12 @@ void adc_init(void)
adc_watchdog.vmin = (1 << 12) - 1; // max adc
#endif
adcgrpcfg.circular = TRUE;
adcgrpcfg.num_channels = ADC_NUM_CHANNELS;
adcgrpcfg.end_cb = adc1callback;
adcgrpcfg.error_cb = adcerrorcallback;
#if defined(__STM32F373xC_H)
adcgrpcfg.u.adc.smpr[0] = smpr1;
adcgrpcfg.u.adc.smpr[1] = smpr2;
adcgrpcfg.u.adc.sqr[0] = sqr1;
adcgrpcfg.u.adc.sqr[1] = sqr2;
adcgrpcfg.u.adc.sqr[2] = sqr3;
adcgrpcfg.u.adc.cr1 = 0;
adcgrpcfg.u.adc.cr2 = ADC_CR2_CFG;
#elif defined(__STM32F3xx_H)
//TODO: check if something needs to be done with the other regs (can be found in ~/paparazzi/sw/ext/chibios/os/hal/ports/STM32/LLD/ADCv3)
#warning ADCs not tested with stm32f30
// cfgr
// tr1
adcgrpcfg.smpr[0] = smpr1; // is this even correct?
adcgrpcfg.smpr[1] = smpr2;
adcgrpcfg.sqr[0] = sqr1;
adcgrpcfg.sqr[1] = sqr2;
adcgrpcfg.sqr[2] = sqr3;
#else
adcgrpcfg.cr2 = ADC_CR2_CFG;
adcgrpcfg.cr1 = 0;
adcgrpcfg.smpr1 = smpr1;
adcgrpcfg.smpr2 = smpr2;
adcgrpcfg.sqr1 = sqr1;
adcgrpcfg.sqr2 = sqr2;
adcgrpcfg.sqr3 = sqr3;
#endif
// Configure the ADC structure
adc_configure(&adc1_group, ADC_NUM_CHANNELS, adc_channel_map, ADC_SAMPLE_RATE, adc1callback, adcerrorcallback);
// Start ADC in continious conversion mode
adcStart(&ADCD1, NULL);
adcStartConversion(&ADCD1, &adcgrpcfg, adc_samples, ADC_BUF_DEPTH);
adcStartConversion(&ADCD1, &adc1_group, adc_samples, ADC_BUF_DEPTH);
}
#if USE_ADC_WATCHDOG
sw/airborne/arch/chibios/mcu_periph/adc_arch.h
+1 -1
View File
@@ -110,7 +110,7 @@ typedef void (*adc_watchdog_callback)(void);
* @param cb callback function call within ISR locked zone
*/
extern void register_adc_watchdog(ADCDriver *adc, adc_channels_num_t channel, adcsample_t vmin,
adc_watchdog_callback cb);
adc_watchdog_callback cb);
#endif
sw/airborne/arch/chibios/mcu_periph/gpio_arch.c
+3 -3
View File
@@ -62,14 +62,14 @@ void gpio_setup_pin_af(ioportid_t port, uint16_t pin, uint8_t af, bool is_output
{
chSysLock();
// architecture dependent settings
#if defined(STM32F1)
#if defined(STM32F1XX)
// FIXME: STM32F1xx doesn't support several alternate modes, is it needed for drivers?
(void)port;
(void)pin;
(void)af;
(void)is_output;
#elif defined(STM32F4) || defined(STM32F3) || defined(STM32F7)
// STM32F4xx, STM32F3xx and STM32F7xx
#else
// STM32F4xx, STM32F3xx, STM32F7xx and STM32H7xx
if (af) {
palSetPadMode(port, pin, PAL_MODE_ALTERNATE(af));
} else {
sw/airborne/arch/chibios/mcu_periph/i2c_arch.c
+61 -159
View File
@@ -56,11 +56,13 @@ static void i2c_chibios_setbitrate(struct i2c_periph *p, int bitrate) __attribut
// private I2C init structure
struct i2c_init {
semaphore_t *sem;
I2CConfig *cfg;
#ifdef STM32F7
uint8_t *dma_buf;
#if defined(STM32F7XX) || defined(STM32H7XX)
uint8_t dma_buf[I2C_BUF_LEN];
#endif
char *name;
semaphore_t sem;
I2CConfig cfg;
struct i2c_errors errors;
};
@@ -79,7 +81,7 @@ static void handle_i2c_thd(struct i2c_periph *p)
struct i2c_init *i = (struct i2c_init *) p->init_struct;
// wait for a transaction to be pushed in the queue
chSemWait(i->sem);
chSemWait(&i->sem);
if (p->trans_insert_idx == p->trans_extract_idx) {
p->status = I2CIdle;
@@ -94,15 +96,17 @@ static void handle_i2c_thd(struct i2c_periph *p)
msg_t status;
// submit i2c transaction (R/W or R only depending of len_w)
if (t->len_w > 0) {
#if defined STM32F7
#if defined(STM32F7XX) || defined(STM32H7XX)
// we do stupid mem copy because F7 needs a special RAM for DMA operation
memcpy(i->dma_buf, (void *)t->buf, (size_t)(t->len_w));
cacheBufferFlush(i->dma_buf, t->len_w);
status = i2cMasterTransmitTimeout(
(I2CDriver *)p->reg_addr,
(i2caddr_t)((t->slave_addr) >> 1),
(uint8_t *)i->dma_buf, (size_t)(t->len_w),
(uint8_t *)i->dma_buf, (size_t)(t->len_r),
tmo);
cacheBufferInvalidate(i->dma_buf, t->len_r);
memcpy((void *)t->buf, i->dma_buf, (size_t)(t->len_r));
#else
status = i2cMasterTransmitTimeout(
@@ -113,7 +117,7 @@ static void handle_i2c_thd(struct i2c_periph *p)
tmo);
#endif
} else {
#if defined STM32F7
#if defined(STM32F7XX) || defined(STM32H7XX)
// we do stupid mem copy because F7 needs a special RAM for DMA operation
memcpy(i->dma_buf, (void *)t->buf, (size_t)(t->len_w));
status = i2cMasterReceiveTimeout(
@@ -150,7 +154,7 @@ static void handle_i2c_thd(struct i2c_periph *p)
//if a timeout occurred before operation end
// mark as failed and restart
t->status = I2CTransFailed;
i2cStart((I2CDriver *)p->reg_addr, i->cfg);
i2cStart((I2CDriver *)p->reg_addr, &i->cfg);
break;
case MSG_RESET:
//if one or more I2C errors occurred, the errors can
@@ -183,31 +187,32 @@ static void handle_i2c_thd(struct i2c_periph *p)
break;
}
}
/**
* @brief I2C thead
*
* @param arg The i2c peripheral (i2c_periph)
*/
static void thd_i2c(void *arg)
{
struct i2c_periph *i2cp = (struct i2c_periph *)arg;
struct i2c_init *init_s = (struct i2c_init *)i2cp->init_struct;
chRegSetThreadName(init_s->name);
while (TRUE) {
handle_i2c_thd(i2cp);
}
}
#endif /* USE_I2C1 || USE_I2C2 || USE_I2C3 || USE_I2C4 */
#if USE_I2C1
// I2C1 config
PRINT_CONFIG_VAR(I2C1_CLOCK_SPEED)
static SEMAPHORE_DECL(i2c1_sem, 0);
static I2CConfig i2cfg1 = I2C1_CFG_DEF;
#if defined STM32F7
// We need a special buffer for DMA operations
static IN_DMA_SECTION(uint8_t i2c1_dma_buf[I2C_BUF_LEN]);
static struct i2c_init i2c1_init_s = {
.sem = &i2c1_sem,
.cfg = &i2cfg1,
.dma_buf = i2c1_dma_buf
// Local variables (in DMA safe memory)
static IN_DMA_SECTION(struct i2c_init i2c1_init_s) = {
.name = "i2c1",
.sem = __SEMAPHORE_DATA(i2c1_init_s.sem, 0),
.cfg = I2C1_CFG_DEF
};
#else
static struct i2c_init i2c1_init_s = {
.sem = &i2c1_sem,
.cfg = &i2cfg1
};
#endif
// Errors
struct i2c_errors i2c1_errors;
// Thread
static __attribute__((noreturn)) void thd_i2c1(void *arg);
static THD_WORKING_AREA(wa_thd_i2c1, I2C_THREAD_STACK_SIZE);
/*
@@ -219,53 +224,24 @@ void i2c1_hw_init(void)
i2c1.submit = i2c_chibios_submit;
i2c1.setbitrate = i2c_chibios_setbitrate;
i2cStart(&I2CD1, &i2cfg1);
i2cStart(&I2CD1, &i2c1_init_s.cfg);
i2c1.reg_addr = &I2CD1;
i2c1.errors = &i2c1_errors;
i2c1.errors = &i2c1_init_s.errors;
i2c1.init_struct = &i2c1_init_s;
// Create thread
chThdCreateStatic(wa_thd_i2c1, sizeof(wa_thd_i2c1),
NORMALPRIO + 1, thd_i2c1, NULL);
}
/*
* I2C1 thread
*
*/
static void thd_i2c1(void *arg)
{
(void) arg;
chRegSetThreadName("i2c1");
while (TRUE) {
handle_i2c_thd(&i2c1);
}
NORMALPRIO + 1, thd_i2c, (void *)&i2c1);
}
#endif /* USE_I2C1 */
#if USE_I2C2
// I2C2 config
PRINT_CONFIG_VAR(I2C2_CLOCK_SPEED)
static SEMAPHORE_DECL(i2c2_sem, 0);
static I2CConfig i2cfg2 = I2C2_CFG_DEF;
#if defined STM32F7
// We need a special buffer for DMA operations
static IN_DMA_SECTION(uint8_t i2c2_dma_buf[I2C_BUF_LEN]);
static struct i2c_init i2c2_init_s = {
.sem = &i2c2_sem,
.cfg = &i2cfg2,
.dma_buf = i2c2_dma_buf
// Local variables (in DMA safe memory)
static IN_DMA_SECTION(struct i2c_init i2c2_init_s) = {
.name = "i2c2",
.sem = __SEMAPHORE_DATA(i2c2_init_s.sem, 0),
.cfg = I2C2_CFG_DEF
};
#else
static struct i2c_init i2c2_init_s = {
.sem = &i2c2_sem,
.cfg = &i2cfg2
};
#endif
// Errors
struct i2c_errors i2c2_errors;
// Thread
static __attribute__((noreturn)) void thd_i2c2(void *arg);
static THD_WORKING_AREA(wa_thd_i2c2, I2C_THREAD_STACK_SIZE);
/*
@@ -277,53 +253,24 @@ void i2c2_hw_init(void)
i2c2.submit = i2c_chibios_submit;
i2c2.setbitrate = i2c_chibios_setbitrate;
i2cStart(&I2CD2, &i2cfg2);
i2cStart(&I2CD2, &i2c2_init_s.cfg);
i2c2.reg_addr = &I2CD2;
i2c2.errors = &i2c2_errors;
i2c2.errors = &i2c2_init_s.errors;
i2c2.init_struct = &i2c2_init_s;
// Create thread
chThdCreateStatic(wa_thd_i2c2, sizeof(wa_thd_i2c2),
NORMALPRIO + 1, thd_i2c2, NULL);
}
/*
* I2C2 thread
*
*/
static void thd_i2c2(void *arg)
{
(void) arg;
chRegSetThreadName("i2c2");
while (TRUE) {
handle_i2c_thd(&i2c2);
}
NORMALPRIO + 1, thd_i2c, (void *)&i2c2);
}
#endif /* USE_I2C2 */
#if USE_I2C3
// I2C3 config
PRINT_CONFIG_VAR(I2C3_CLOCK_SPEED)
static SEMAPHORE_DECL(i2c3_sem, 0);
static I2CConfig i2cfg3 = I2C3_CFG_DEF;
#if defined STM32F7
// We need a special buffer for DMA operations
static IN_DMA_SECTION(uint8_t i2c3_dma_buf[I2C_BUF_LEN]);
static struct i2c_init i2c3_init_s = {
.sem = &i2c3_sem,
.cfg = &i2cfg3,
.dma_buf = i2c3_dma_buf
// Local variables (in DMA safe memory)
static IN_DMA_SECTION(struct i2c_init i2c3_init_s) = {
.name = "i2c3",
.sem = __SEMAPHORE_DATA(i2c3_init_s.sem, 0),
.cfg = I2C3_CFG_DEF
};
#else
static struct i2c_init i2c3_init_s = {
.sem = &i2c3_sem,
.cfg = &i2cfg3
};
#endif
// Errors
struct i2c_errors i2c3_errors;
// Thread
static __attribute__((noreturn)) void thd_i2c3(void *arg);
static THD_WORKING_AREA(wa_thd_i2c3, I2C_THREAD_STACK_SIZE);
/*
@@ -335,54 +282,24 @@ void i2c3_hw_init(void)
i2c3.submit = i2c_chibios_submit;
i2c3.setbitrate = i2c_chibios_setbitrate;
i2cStart(&I2CD3, &i2cfg3);
i2cStart(&I2CD3, &i2c3_init_s.cfg);
i2c3.reg_addr = &I2CD3;
i2c3.init_struct = NULL;
i2c3.errors = &i2c3_errors;
i2c3.errors = &i2c3_init_s.errors;
i2c3.init_struct = &i2c3_init_s;
// Create thread
chThdCreateStatic(wa_thd_i2c3, sizeof(wa_thd_i2c3),
NORMALPRIO + 1, thd_i2c3, NULL);
}
/*
* I2C3 thread
*
*/
static void thd_i2c3(void *arg)
{
(void) arg;
chRegSetThreadName("i2c3");
while (TRUE) {
handle_i2c_thd(&i2c3);
}
NORMALPRIO + 1, thd_i2c, (void *)&i2c3);
}
#endif /* USE_I2C3 */
#if USE_I2C4
// I2C4 config
PRINT_CONFIG_VAR(I2C4_CLOCK_SPEED)
static SEMAPHORE_DECL(i2c4_sem, 0);
static I2CConfig i2cfg4 = I2C4_CFG_DEF;
#if defined STM32F7
// We need a special buffer for DMA operations
static IN_DMA_SECTION(uint8_t i2c4_dma_buf[I2C_BUF_LEN]);
static struct i2c_init i2c4_init_s = {
.sem = &i2c4_sem,
.cfg = &i2cfg4,
.dma_buf = i2c4_dma_buf
// Local variables (in DMA safe memory)
static IN_DMA_SECTION(struct i2c_init i2c4_init_s) = {
.name = "i2c4",
.sem = __SEMAPHORE_DATA(i2c4_init_s.sem, 0),
.cfg = I2C4_CFG_DEF
};
#else
static struct i2c_init i2c4_init_s = {
.sem = &i2c4_sem,
.cfg = &i2cfg4
};
#endif
// Errors
struct i2c_errors i2c4_errors;
// Thread
static __attribute__((noreturn)) void thd_i2c4(void *arg);
static THD_WORKING_AREA(wa_thd_i2c4, I2C_THREAD_STACK_SIZE);
/*
@@ -394,28 +311,13 @@ void i2c4_hw_init(void)
i2c4.submit = i2c_chibios_submit;
i2c4.setbitrate = i2c_chibios_setbitrate;
i2cStart(&I2CD4, &i2cfg4);
i2cStart(&I2CD4, &i2c4_init_s.cfg);
i2c4.reg_addr = &I2CD4;
i2c4.init_struct = NULL;
i2c4.errors = &i2c4_errors;
i2c4.errors = &i2c4_init_s.errors;
i2c4.init_struct = &i2c4_init_s;
// Create thread
chThdCreateStatic(wa_thd_i2c4, sizeof(wa_thd_i2c4),
NORMALPRIO + 1, thd_i2c4, NULL);
}
/*
* I2C4 thread
*
*/
static void thd_i2c4(void *arg)
{
(void) arg;
chRegSetThreadName("i2c4");
while (TRUE) {
handle_i2c_thd(&i2c4);
}
NORMALPRIO + 1, thd_i2c, (void *)&i2c4);
}
#endif /* USE_I2C4 */
@@ -475,7 +377,7 @@ static bool i2c_chibios_submit(struct i2c_periph *p, struct i2c_transaction *t)
p->trans_insert_idx = temp;
chSysUnlock();
chSemSignal(((struct i2c_init *)p->init_struct)->sem);
chSemSignal(&((struct i2c_init *)p->init_struct)->sem);
// transaction submitted
return TRUE;
#else
sw/airborne/arch/chibios/mcu_periph/ram_arch.h
+17 -8
View File
@@ -43,24 +43,33 @@
#ifndef RAM_ARCH_H
#define RAM_ARCH_H
#if defined STM32F1
#if defined(STM32F1XX)
#define STD_SECTION ".ram0"
#define FAST_SECTION ".ram0"
#define DMA_SECTION ".ram0"
#elif defined STM32F3
#define DMA_ALIGN 8
#elif defined(STM32F3XX)
#define STD_SECTION ".ram0"
#define FAST_SECTION ".ram4"
#define DMA_SECTION ".ram0"
#elif defined STM32F4
#define DMA_ALIGN 8
#elif defined(STM32F4XX)
#define STD_SECTION ".ram0"
#define FAST_SECTION ".ram4"
#define DMA_SECTION ".ram0"
#elif defined STM32F7
#define DMA_ALIGN 8
#elif defined(STM32F7XX)
#define STD_SECTION ".ram0"
#define FAST_SECTION ".ram0"
#define DMA_SECTION ".ram3"
#define DMA_ALIGN 8
#elif defined(STM32H7XX)
#define STD_SECTION ".ram1"
#define FAST_SECTION ".ram5"
#define DMA_SECTION ".ram0"
#define DMA_ALIGN 32
#else
#error "section defined only for STM32F1, STM32F4 and STM32F7"
#error "section defined only for STM32F1, STM32F3, STM32F4, STM32F7 and STM32H7"
#endif
#define IN_STD_SECTION_NOINIT(var) var __attribute__ ((section(STD_SECTION), aligned(8)))
@@ -71,9 +80,9 @@
#define IN_FAST_SECTION_CLEAR(var) var __attribute__ ((section(FAST_SECTION "_clear"), aligned(8)))
#define IN_FAST_SECTION(var) var __attribute__ ((section(FAST_SECTION "_init"), aligned(8)))
#define IN_DMA_SECTION_NOINIT(var) var __attribute__ ((section(DMA_SECTION), aligned(8)))
#define IN_DMA_SECTION_CLEAR(var) var __attribute__ ((section(DMA_SECTION "_clear"), aligned(8)))
#define IN_DMA_SECTION(var) var __attribute__ ((section(DMA_SECTION "_init"), aligned(8)))
#define IN_DMA_SECTION_NOINIT(var) var __attribute__ ((section(DMA_SECTION), aligned(DMA_ALIGN)))
#define IN_DMA_SECTION_CLEAR(var) var __attribute__ ((section(DMA_SECTION "_clear"), aligned(DMA_ALIGN)))
#define IN_DMA_SECTION(var) var __attribute__ ((section(DMA_SECTION "_init"), aligned(DMA_ALIGN)))
#endif
sw/airborne/arch/chibios/mcu_periph/sdio_arch.c
+14 -27
View File
@@ -47,7 +47,7 @@ static enum {STOP, CONNECT} cnxState = STOP;
bool sdio_connect(void)
{
if (!sdc_lld_is_card_inserted (NULL)) {
if (!sdc_lld_is_card_inserted(NULL)) {
return FALSE;
}
@@ -55,49 +55,36 @@ bool sdio_connect(void)
return TRUE;
}
/*
* Initializes the SDIO drivers.
*
* FIXME This could be hardcoded in board file ?
*/
const uint32_t mode = PAL_MODE_ALTERNATE(SDIO_AF) | PAL_STM32_OTYPE_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUPDR_FLOATING | PAL_STM32_MODE_ALTERNATE;
palSetPadMode (SDIO_D0_PORT, SDIO_D0_PIN, mode | PAL_STM32_PUPDR_PULLUP);
palSetPadMode (SDIO_D1_PORT, SDIO_D1_PIN, mode | PAL_STM32_PUPDR_PULLUP);
palSetPadMode (SDIO_D2_PORT, SDIO_D2_PIN, mode | PAL_STM32_PUPDR_PULLUP);
palSetPadMode (SDIO_D3_PORT, SDIO_D3_PIN, mode | PAL_STM32_PUPDR_PULLUP);
palSetPadMode (SDIO_CK_PORT, SDIO_CK_PIN, mode);
palSetPadMode (SDIO_CMD_PORT, SDIO_CMD_PIN, mode | PAL_STM32_PUPDR_PULLUP);
// palSetPadMode (GPIOD, GPIOD_SDIO_CMD, mode);
chThdSleepMilliseconds(100);
sdcStart(&SDCD1, NULL);
while (sdcConnect(&SDCD1) != HAL_SUCCESS) {
// Try only 3 times to prevent hanging
for (uint8_t i = 0; i < 3; i++) {
sdcStart(&SDCD1, NULL);
if (sdcConnect(&SDCD1) == HAL_SUCCESS) {
cnxState = CONNECT;
return TRUE;
}
sdcStop(&SDCD1);
chThdSleepMilliseconds(100);
}
cnxState = CONNECT;
return TRUE;
return FALSE;
}
bool sdio_disconnect(void)
{
if (cnxState == STOP)
if (cnxState == STOP) {
return TRUE;
}
if (sdcDisconnect(&SDCD1)) {
return FALSE;
}
sdcStop (&SDCD1);
sdcStop(&SDCD1);
cnxState = STOP;
return TRUE;
}
bool is_card_inserted(void)
{
return sdc_lld_is_card_inserted (NULL);
return sdc_lld_is_card_inserted(NULL);
}
sw/airborne/arch/chibios/mcu_periph/spi_arch.c
+171 -130
View File
@@ -35,8 +35,9 @@
#include <string.h>
#include "mcu_periph/ram_arch.h"
#if SPI_SLAVE
#error "ChibiOS operates only in SPI_MASTER mode"
#error "ChibiOS operates only in SPI_MASTER mode (Slave is TODO)"
#endif
#if USE_SPI0
@@ -48,15 +49,20 @@
#define SPI_THREAD_STACK_SIZE 512
#endif
// Default spi DMA buffer length for F7/H7
#ifndef SPI_DMA_BUF_LEN
#define SPI_DMA_BUF_LEN 512 // it has to be big enough
#endif
// private SPI init structure
struct spi_init {
semaphore_t *sem;
#ifdef STM32F7
uint8_t *dma_buf_out;
uint8_t *dma_buf_in;
#if defined(STM32F7XX) || defined(STM32H7XX)
uint8_t dma_buf_out[SPI_DMA_BUF_LEN];
uint8_t dma_buf_in[SPI_DMA_BUF_LEN];
#endif
char *name;
semaphore_t sem;
};
#define SPI_DMA_BUF_LEN 512 // it has to be big enough
/**
* Resolve slave port
@@ -99,6 +105,21 @@ static inline ioportid_t spi_resolve_slave_port(uint8_t slave)
return SPI_SELECT_SLAVE5_PORT;
break;
#endif //USE_SPI_SLAVE5
#if USE_SPI_SLAVE6
case 6:
return SPI_SELECT_SLAVE6_PORT;
break;
#endif //USE_SPI_SLAVE6
#if USE_SPI_SLAVE7
case 7:
return SPI_SELECT_SLAVE7_PORT;
break;
#endif //USE_SPI_SLAVE7
#if USE_SPI_SLAVE8
case 8:
return SPI_SELECT_SLAVE8_PORT;
break;
#endif //USE_SPI_SLAVE8
default:
return 0;
break;
@@ -146,6 +167,21 @@ static inline uint16_t spi_resolve_slave_pin(uint8_t slave)
return SPI_SELECT_SLAVE5_PIN;
break;
#endif //USE_SPI_SLAVE5
#if USE_SPI_SLAVE6
case 6:
return SPI_SELECT_SLAVE6_PIN;
break;
#endif //USE_SPI_SLAVE6
#if USE_SPI_SLAVE7
case 7:
return SPI_SELECT_SLAVE7_PIN;
break;
#endif //USE_SPI_SLAVE7
#if USE_SPI_SLAVE8
case 8:
return SPI_SELECT_SLAVE8_PIN;
break;
#endif //USE_SPI_SLAVE8
default:
return 0;
break;
@@ -153,26 +189,26 @@ static inline uint16_t spi_resolve_slave_pin(uint8_t slave)
}
/**
* Resolve CR1
* Resolve CR1 (or CFG1)
*
* Given the transaction settings, returns the right configuration of
* SPIx_CR1 register.
*
* This function is currently architecture dependent (for STM32F1xx
* STM32F4xx and STM32F7xx only)
* STM32F4xx, STM32F7xx and STM32H7xx only)
* TODO: extend for other architectures too
*
* @param[in] t pointer to a @p spi_transaction struct
*/
static inline uint16_t spi_resolve_CR1(struct spi_transaction *t __attribute__((unused)))
static inline uint32_t spi_resolve_CR1(struct spi_transaction *t __attribute__((unused)))
{
uint16_t CR1 = 0;
#if defined(STM32F1) || defined(STM32F4)
uint32_t CR1 = 0;
#if defined(STM32F1XX) || defined(STM32F4XX)
if (t->dss == SPIDss16bit) {
CR1 |= SPI_CR1_DFF; // FIXME for F7
CR1 |= SPI_CR1_DFF;
}
#endif
#if defined(STM32F1) || defined(STM32F4) || defined(STM32F7)
#if defined(STM32F1XX) || defined(STM32F4XX) || defined(STM32F7XX)
if (t->bitorder == SPILSBFirst) {
CR1 |= SPI_CR1_LSBFIRST;
}
@@ -210,32 +246,51 @@ static inline uint16_t spi_resolve_CR1(struct spi_transaction *t __attribute__((
default:
break;
}
#endif /* STM32F1 || STM32F4 || STM32F7 */
#endif /* STM32F1XX || STM32F4XX || STM32F7XX */
#if defined(STM32H7XX)
if (t->dss == SPIDss16bit) {
CR1 |= SPI_CFG1_DSIZE_VALUE(15); // 16 bit transfer
} else {
CR1 |= SPI_CFG1_DSIZE_VALUE(7); // 8 bit transfer
}
CR1 |= SPI_CFG1_MBR_VALUE(t->cdiv);
#endif /* STM32H7XX */
return CR1;
}
/**
* Resolve CR2
* Resolve CR2 (or CFG2)
*
* Given the transaction settings, returns the right configuration of
* SPIx_CR2 register.
*
* This function is currently architecture dependent (for STM32F1xx
* STM32F4xx and STM32F7xx only)
* STM32F4xx, STM32F7xx and STM32H7xx only)
* TODO: extend for other architectures too
*
* @param[in] t pointer to a @p spi_transaction struct
*/
static inline uint16_t spi_resolve_CR2(struct spi_transaction *t __attribute__((unused)))
static inline uint32_t spi_resolve_CR2(struct spi_transaction *t __attribute__((unused)))
{
uint16_t CR2 = 0;
#if defined(STM32F7)
uint32_t CR2 = 0;
#if defined(STM32F7XX)
if (t->dss == SPIDss16bit) {
CR2 |= SPI_CR2_DS_0 | SPI_CR2_DS_1 | SPI_CR2_DS_2 | SPI_CR2_DS_3;
} else {
CR2 |= SPI_CR2_DS_0 | SPI_CR2_DS_1 | SPI_CR2_DS_2;
}
#endif /* STM32F7 */
#endif /* STM32F7XX */
#if defined(STM32H7XX)
if (t->bitorder == SPILSBFirst) {
CR2 |= SPI_CFG2_LSBFRST;
}
if (t->cpha == SPICphaEdge2) {
CR2 |= SPI_CFG2_CPHA;
}
if (t->cpol == SPICpolIdleHigh) {
CR2 |= SPI_CFG2_CPOL;
}
#endif /* STM32H7XX */
return CR2;
}
@@ -249,7 +304,7 @@ static void handle_spi_thd(struct spi_periph *p)
struct spi_init *i = (struct spi_init *) p->init_struct;
// wait for a transaction to be pushed in the queue
chSemWait(i->sem);
chSemWait(&i->sem);
if ((p->trans_insert_idx == p->trans_extract_idx) || p->suspend) {
p->status = SPIIdle;
@@ -264,11 +319,15 @@ static void handle_spi_thd(struct spi_periph *p)
SPIConfig spi_cfg = {
false, // no circular buffer
#if defined(HAL_LLD_SELECT_SPI_V2)
false, // no slave mode
NULL, // no callback
#endif
NULL, // no callback
spi_resolve_slave_port(t->slave_idx),
spi_resolve_slave_pin(t->slave_idx),
spi_resolve_CR1(t),
spi_resolve_CR2(t)
spi_resolve_CR2(t),
};
// find max transaction length
@@ -293,10 +352,12 @@ static void handle_spi_thd(struct spi_periph *p)
}
// Start synchronous data transfer
#if defined STM32F7
// we do stupid mem copy because F7 needs a special RAM for DMA operation
#if defined(STM32F7XX) || defined(STM32H7XX)
// we do stupid mem copy because F7/H7 needs a special RAM for DMA operation
memcpy(i->dma_buf_out, (void *)t->output_buf, (size_t)t->output_length);
cacheBufferFlush(i->dma_buf_out, t->output_length);
spiExchange((SPIDriver *)p->reg_addr, t_length, i->dma_buf_out, i->dma_buf_in);
cacheBufferInvalidate(i->dma_buf_in, t->input_length);
memcpy((void *)t->input_buf, i->dma_buf_in, (size_t)t->input_length);
#else
spiExchange((SPIDriver *)p->reg_addr, t_length, (uint8_t *)t->output_buf, (uint8_t *)t->input_buf);
@@ -330,163 +391,99 @@ static void handle_spi_thd(struct spi_periph *p)
}
/**
* @brief Default spi thread
*
* @param arg The SPI perpheral (struct spi_periph)
*/
static __attribute__((noreturn)) void thd_spi(void *arg)
{
struct spi_periph *spip = (struct spi_periph *)arg;
struct spi_init *init_s = (struct spi_init *)spip->init_struct;
chRegSetThreadName(init_s->name);
while (TRUE) {
handle_spi_thd(spip);
}
}
/**
* Configure SPI peripherals
*/
#if USE_SPI1
static SEMAPHORE_DECL(spi1_sem, 0);
#if defined STM32F7
// We need a special buffer for DMA operations
static IN_DMA_SECTION(uint8_t spi1_dma_buf_out[SPI_DMA_BUF_LEN]);
static IN_DMA_SECTION(uint8_t spi1_dma_buf_in[SPI_DMA_BUF_LEN]);
static struct spi_init spi1_init_s = {
.sem = &spi1_sem,
.dma_buf_out = spi1_dma_buf_out,
.dma_buf_in = spi1_dma_buf_in
// Local variables (in DMA safe memory)
static IN_DMA_SECTION(struct spi_init spi1_init_s) = {
.name = "spi1",
.sem = __SEMAPHORE_DATA(spi1_init_s.sem, 0),
};
#else
static struct spi_init spi1_init_s = {
.sem = &spi1_sem,
};
#endif
static __attribute__((noreturn)) void thd_spi1(void *arg)
{
(void) arg;
chRegSetThreadName("spi1");
while (TRUE) {
handle_spi_thd(&spi1);
}
}
static THD_WORKING_AREA(wa_thd_spi1, SPI_THREAD_STACK_SIZE);
// Initialize the interface
void spi1_arch_init(void)
{
spi1.reg_addr = &SPID1;
spi1.init_struct = &spi1_init_s;
// Create thread
chThdCreateStatic(wa_thd_spi1, sizeof(wa_thd_spi1),
NORMALPRIO + 1, thd_spi1, NULL);
NORMALPRIO + 1, thd_spi, (void *)&spi1);
}
#endif
#if USE_SPI2
static SEMAPHORE_DECL(spi2_sem, 0);
#if defined STM32F7
// We need a special buffer for DMA operations
static IN_DMA_SECTION(uint8_t spi2_dma_buf_out[SPI_DMA_BUF_LEN]);
static IN_DMA_SECTION(uint8_t spi2_dma_buf_in[SPI_DMA_BUF_LEN]);
static struct spi_init spi2_init_s = {
.sem = &spi2_sem,
.dma_buf_out = spi2_dma_buf_out,
.dma_buf_in = spi2_dma_buf_in
// Local variables (in DMA safe memory)
static IN_DMA_SECTION(struct spi_init spi2_init_s) = {
.name = "spi2",
.sem = __SEMAPHORE_DATA(spi2_init_s.sem, 0),
};
#else
static struct spi_init spi2_init_s = {
.sem = &spi2_sem,
};
#endif
static __attribute__((noreturn)) void thd_spi2(void *arg)
{
(void) arg;
chRegSetThreadName("spi2");
while (TRUE) {
handle_spi_thd(&spi2);
}
}
static THD_WORKING_AREA(wa_thd_spi2, SPI_THREAD_STACK_SIZE);
// Initialize the interface
void spi2_arch_init(void)
{
spi2.reg_addr = &SPID2;
spi2.init_struct = &spi2_init_s;
// Create thread
chThdCreateStatic(wa_thd_spi2, sizeof(wa_thd_spi2),
NORMALPRIO + 1, thd_spi2, NULL);
NORMALPRIO + 1, thd_spi, (void *)&spi2);
}
#endif
#if USE_SPI3
static SEMAPHORE_DECL(spi3_sem, 0);
#if defined STM32F7
// We need a special buffer for DMA operations
static IN_DMA_SECTION(uint8_t spi3_dma_buf_out[SPI_DMA_BUF_LEN]);
static IN_DMA_SECTION(uint8_t spi3_dma_buf_in[SPI_DMA_BUF_LEN]);
static struct spi_init spi3_init_s = {
.sem = &spi3_sem,
.dma_buf_out = spi3_dma_buf_out,
.dma_buf_in = spi3_dma_buf_in
// Local variables (in DMA safe memory)
static IN_DMA_SECTION(struct spi_init spi3_init_s) = {
.name = "spi3",
.sem = __SEMAPHORE_DATA(spi3_init_s.sem, 0),
};
#else
static struct spi_init spi3_init_s = {
.sem = &spi3_sem,
};
#endif
static __attribute__((noreturn)) void thd_spi3(void *arg)
{
(void) arg;
chRegSetThreadName("spi3");
while (TRUE) {
handle_spi_thd(&spi3);
}
}
static THD_WORKING_AREA(wa_thd_spi3, SPI_THREAD_STACK_SIZE);
// Initialize the interface
void spi3_arch_init(void)
{
spi3.reg_addr = &SPID3;
spi3.init_struct = &spi3_init_s;
// Create thread
chThdCreateStatic(wa_thd_spi3, sizeof(wa_thd_spi3),
NORMALPRIO + 1, thd_spi3, NULL);
NORMALPRIO + 1, thd_spi, (void *)&spi3);
}
#endif
#if USE_SPI4
static SEMAPHORE_DECL(spi4_sem, 0);
#if defined STM32F7
// We need a special buffer for DMA operations
static IN_DMA_SECTION(uint8_t spi4_dma_buf_out[SPI_DMA_BUF_LEN]);
static IN_DMA_SECTION(uint8_t spi4_dma_buf_in[SPI_DMA_BUF_LEN]);
static struct spi_init spi4_init_s = {
.sem = &spi4_sem,
.dma_buf_out = spi4_dma_buf_out,
.dma_buf_in = spi4_dma_buf_in
// Local variables (in DMA safe memory)
static IN_DMA_SECTION(struct spi_init spi4_init_s) = {
.name = "spi4",
.sem = __SEMAPHORE_DATA(spi4_init_s.sem, 0),
};
#else
static struct spi_init spi4_init_s = {
.sem = &spi4_sem,
};
#endif
static __attribute__((noreturn)) void thd_spi4(void *arg)
{
(void) arg;
chRegSetThreadName("spi4");
while (TRUE) {
handle_spi_thd(&spi4);
}
}
static THD_WORKING_AREA(wa_thd_spi4, SPI_THREAD_STACK_SIZE);
// Initialize the interface
void spi4_arch_init(void)
{
spi4.reg_addr = &SPID4;
spi4.init_struct = &spi4_init_s;
// Create thread
chThdCreateStatic(wa_thd_spi4, sizeof(wa_thd_spi4),
NORMALPRIO + 1, thd_spi4, NULL);
NORMALPRIO + 1, thd_spi, (void *)&spi4);
}
#endif
@@ -530,7 +527,7 @@ bool spi_submit(struct spi_periph *p, struct spi_transaction *t)
p->trans_insert_idx = idx;
chSysUnlock();
chSemSignal(((struct spi_init *)p->init_struct)->sem);
chSemSignal(&((struct spi_init *)p->init_struct)->sem);
// transaction submitted
return TRUE;
}
@@ -574,6 +571,21 @@ void spi_slave_select(uint8_t slave)
gpio_clear(SPI_SELECT_SLAVE5_PORT, SPI_SELECT_SLAVE5_PIN);
break;
#endif //USE_SPI_SLAVE5
#if USE_SPI_SLAVE6
case 6:
gpio_clear(SPI_SELECT_SLAVE6_PORT, SPI_SELECT_SLAVE6_PIN);
break;
#endif //USE_SPI_SLAVE6
#if USE_SPI_SLAVE7
case 7:
gpio_clear(SPI_SELECT_SLAVE7_PORT, SPI_SELECT_SLAVE7_PIN);
break;
#endif //USE_SPI_SLAVE7
#if USE_SPI_SLAVE8
case 8:
gpio_clear(SPI_SELECT_SLAVE8_PORT, SPI_SELECT_SLAVE8_PIN);
break;
#endif //USE_SPI_SLAVE8
default:
break;
}
@@ -616,6 +628,21 @@ void spi_slave_unselect(uint8_t slave)
gpio_set(SPI_SELECT_SLAVE5_PORT, SPI_SELECT_SLAVE5_PIN);
break;
#endif //USE_SPI_SLAVE5
#if USE_SPI_SLAVE6
case 6:
gpio_set(SPI_SELECT_SLAVE6_PORT, SPI_SELECT_SLAVE6_PIN);
break;
#endif //USE_SPI_SLAVE6
#if USE_SPI_SLAVE7
case 7:
gpio_set(SPI_SELECT_SLAVE7_PORT, SPI_SELECT_SLAVE7_PIN);
break;
#endif //USE_SPI_SLAVE7
#if USE_SPI_SLAVE8
case 8:
gpio_set(SPI_SELECT_SLAVE8_PORT, SPI_SELECT_SLAVE8_PIN);
break;
#endif //USE_SPI_SLAVE8
default:
break;
}
@@ -685,5 +712,19 @@ void spi_init_slaves(void)
gpio_setup_output(SPI_SELECT_SLAVE5_PORT, SPI_SELECT_SLAVE5_PIN);
spi_slave_unselect(5);
#endif
}
#if USE_SPI_SLAVE6
gpio_setup_output(SPI_SELECT_SLAVE6_PORT, SPI_SELECT_SLAVE6_PIN);
spi_slave_unselect(6);
#endif
#if USE_SPI_SLAVE7
gpio_setup_output(SPI_SELECT_SLAVE7_PORT, SPI_SELECT_SLAVE7_PIN);
spi_slave_unselect(7);
#endif
#if USE_SPI_SLAVE8
gpio_setup_output(SPI_SELECT_SLAVE8_PORT, SPI_SELECT_SLAVE8_PIN);
spi_slave_unselect(8);
#endif
}
sw/airborne/arch/chibios/mcu_periph/sys_time_arch.c
+10 -6
View File
@@ -39,6 +39,10 @@
static MUTEX_DECL(sys_time_mtx);
#ifndef STM32_SYSCLK
#define STM32_SYSCLK STM32_SYS_CK
#endif
/*
* Sys_tick handler thread
*/
@@ -59,7 +63,7 @@ void sys_time_arch_init(void)
// Create thread (PRIO should be higher than AP threads
chThdCreateStatic(wa_thd_sys_tick, sizeof(wa_thd_sys_tick),
NORMALPRIO+2, thd_sys_tick, NULL);
NORMALPRIO + 2, thd_sys_tick, NULL);
}
@@ -73,8 +77,8 @@ uint32_t get_sys_time_usec(void)
chMtxLock(&sys_time_mtx);
uint32_t current = chSysGetRealtimeCounterX();
uint32_t t = sys_time.nb_sec * 1000000 +
TIME_I2US(sys_time.nb_sec_rem) +
RTC2US(STM32_SYSCLK, current - cpu_counter);
TIME_I2US(sys_time.nb_sec_rem) +
RTC2US(STM32_SYSCLK, current - cpu_counter);
chMtxUnlock(&sys_time_mtx);
return t;
}
@@ -84,8 +88,8 @@ uint32_t get_sys_time_msec(void)
chMtxLock(&sys_time_mtx);
uint32_t current = chSysGetRealtimeCounterX();
uint32_t t = sys_time.nb_sec * 1000 +
TIME_I2MS(sys_time.nb_sec_rem) +
RTC2MS(STM32_SYSCLK, current - cpu_counter);
TIME_I2MS(sys_time.nb_sec_rem) +
RTC2MS(STM32_SYSCLK, current - cpu_counter);
chMtxUnlock(&sys_time_mtx);
return t;
}
@@ -131,7 +135,7 @@ static __attribute__((noreturn)) void thd_sys_tick(void *arg)
while (TRUE) {
systime_t t = chVTGetSystemTime();
sys_tick_handler();
chThdSleepUntilWindowed(t, t + TIME_US2I(USEC_OF_SEC(1.f/(SYS_TIME_FREQUENCY))));
chThdSleepUntilWindowed(t, t + TIME_US2I(USEC_OF_SEC(1.f / (SYS_TIME_FREQUENCY))));
}
}
sw/airborne/arch/chibios/mcu_periph/uart_arch.c
+6 -6
View File
@@ -998,13 +998,14 @@ void uart_periph_set_baudrate(struct uart_periph *p, uint32_t baud)
*/
void uart_periph_set_mode(struct uart_periph *p __attribute__((unused)), bool tx_enabled __attribute__((unused)),
bool rx_enabled __attribute__((unused)), bool hw_flow_control __attribute__((unused))) {}
#if defined STM32F7
#if defined(STM32H7XX)
#define __USART_CR1_M USART_CR1_M0
#elif defined(STM32F7XX)
#define __USART_CR1_M USART_CR1_M_0
#elif defined STM32F1 || defined STM32F4 || defined STM32F3
#elif defined(STM32F1XX) || defined (STM32F3XX) || defined(STM32F4XX)
#define __USART_CR1_M USART_CR1_M
#else
#error unsupported board
#error Unsupported board
#endif
/**
@@ -1049,7 +1050,7 @@ void uart_periph_set_bits_stop_parity(struct uart_periph *p,
sdStart((SerialDriver *)(p->reg_addr), conf);
}
#ifdef STM32F7
#if defined(STM32F7XX) || defined(STM32H7XX)
/**
* Invert data logic
*/
@@ -1159,4 +1160,3 @@ void uart_send_message(struct uart_periph *p, long fd)
// send signal to start transmission
chSemSignal(init_struct->tx_sem);
}
sw/airborne/arch/chibios/modules/actuators/actuators_pwm_arch.c
+219 -30
View File
@@ -34,6 +34,48 @@
#include "modules/actuators/actuators_pwm.h"
#include "mcu_periph/gpio.h"
/* Default timer base frequency is 1MHz */
#ifndef PWM_FREQUENCY
#define PWM_FREQUENCY 1000000
#endif
/* Default servo update rate in Hz */
#ifndef SERVO_HZ
#define SERVO_HZ 40
#endif
/* For each timer the period van be configured differently */
#ifndef TIM1_SERVO_HZ
#define TIM1_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM2_SERVO_HZ
#define TIM2_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM3_SERVO_HZ
#define TIM3_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM4_SERVO_HZ
#define TIM4_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM5_SERVO_HZ
#define TIM5_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM8_SERVO_HZ
#define TIM8_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM9_SERVO_HZ
#define TIM9_SERVO_HZ SERVO_HZ
#endif
#ifndef TIM12_SERVO_HZ
#define TIM12_SERVO_HZ SERVO_HZ
#endif
/**
* Print the configuration variables from the header
*/
PRINT_CONFIG_VAR(ACTUATORS_PWM_NB)
PRINT_CONFIG_VAR(PWM_FREQUENCY)
PRINT_CONFIG_VAR(SERVO_HZ)
/**
* CMD_TO_US() is depending on architecture
@@ -60,35 +102,165 @@ int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
*/
__attribute__((unused)) static void pwmpcb(PWMDriver *pwmp __attribute__((unused))) {}
#if PWM_CONF_TIM1
static PWMConfig pwmcfg1 = PWM_CONF1_DEF;
#if STM32_PWM_USE_TIM1
static PWMConfig pwmcfg1 = {
.frequency = PWM_FREQUENCY,
.period = PWM_FREQUENCY/TIM1_SERVO_HZ,
.callback = NULL,
.channels = {
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
},
.cr2 = 0,
.bdtr = 0,
.dier = 0
};
#endif
#if PWM_CONF_TIM2
static PWMConfig pwmcfg2 = PWM_CONF2_DEF;
#if STM32_PWM_USE_TIM2
static PWMConfig pwmcfg2 = {
.frequency = PWM_FREQUENCY,
.period = PWM_FREQUENCY/TIM2_SERVO_HZ,
.callback = NULL,
.channels = {
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
},
.cr2 = 0,
.bdtr = 0,
.dier = 0
};
#endif
#if PWM_CONF_TIM3
static PWMConfig pwmcfg3 = PWM_CONF3_DEF;
#if STM32_PWM_USE_TIM3
static PWMConfig pwmcfg3 = {
.frequency = PWM_FREQUENCY,
.period = PWM_FREQUENCY/TIM3_SERVO_HZ,
.callback = NULL,
.channels = {
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
},
.cr2 = 0,
.bdtr = 0,
.dier = 0
};
#endif
#if PWM_CONF_TIM4
static PWMConfig pwmcfg4 = PWM_CONF4_DEF;
#if STM32_PWM_USE_TIM4
static PWMConfig pwmcfg4 = {
.frequency = PWM_FREQUENCY,
.period = PWM_FREQUENCY/TIM4_SERVO_HZ,
.callback = NULL,
.channels = {
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
},
.cr2 = 0,
.bdtr = 0,
.dier = 0
};
#endif
#if PWM_CONF_TIM5
static PWMConfig pwmcfg5 = PWM_CONF5_DEF;
#if STM32_PWM_USE_TIM5
static PWMConfig pwmcfg5 = {
.frequency = PWM_FREQUENCY,
.period = PWM_FREQUENCY/TIM5_SERVO_HZ,
.callback = NULL,
.channels = {
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
},
.cr2 = 0,
.bdtr = 0,
.dier = 0
};
#endif
#if PWM_CONF_TIM8
static PWMConfig pwmcfg8 = PWM_CONF8_DEF;
#if STM32_PWM_USE_TIM8
static PWMConfig pwmcfg8 = {
.frequency = PWM_FREQUENCY,
.period = PWM_FREQUENCY/TIM8_SERVO_HZ,
.callback = NULL,
.channels = {
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
},
.cr2 = 0,
.bdtr = 0,
.dier = 0
};
#endif
#if PWM_CONF_TIM9
static PWMConfig pwmcfg9 = PWM_CONF9_DEF;
#if STM32_PWM_USE_TIM9
static PWMConfig pwmcfg9 = {
.frequency = PWM_FREQUENCY,
.period = PWM_FREQUENCY/TIM9_SERVO_HZ,
.callback = NULL,
.channels = {
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
},
.cr2 = 0,
.bdtr = 0,
.dier = 0
};
#endif
#if PWM_CONF_TIM10
static PWMConfig pwmcfg10 = PWM_CONF10_DEF;
#if STM32_PWM_USE_TIM10
static PWMConfig pwmcfg10 = {
.frequency = PWM_FREQUENCY,
.period = PWM_FREQUENCY/TIM10_SERVO_HZ,
.callback = NULL,
.channels = {
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
},
.cr2 = 0,
.bdtr = 0,
.dier = 0
};
#endif
#if PWM_CONF_TIM11
static PWMConfig pwmcfg11 = PWM_CONF11_DEF;
#if STM32_PWM_USE_TIM11
static PWMConfig pwmcfg11 = {
.frequency = PWM_FREQUENCY,
.period = PWM_FREQUENCY/TIM11_SERVO_HZ,
.callback = NULL,
.channels = {
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
},
.cr2 = 0,
.bdtr = 0,
.dier = 0
};
#endif
#if PWM_CONF_TIM12
static PWMConfig pwmcfg12 = PWM_CONF12_DEF;
#if STM32_PWM_USE_TIM12
static PWMConfig pwmcfg12 = {
.frequency = PWM_FREQUENCY,
.period = PWM_FREQUENCY/TIM12_SERVO_HZ,
.callback = NULL,
.channels = {
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
{ PWM_OUTPUT_DISABLED, NULL },
},
.cr2 = 0,
.bdtr = 0,
.dier = 0
};
#endif
@@ -99,87 +271,104 @@ void actuators_pwm_arch_init(void)
*----------------*/
#ifdef PWM_SERVO_0
gpio_setup_pin_af(PWM_SERVO_0_GPIO, PWM_SERVO_0_PIN, PWM_SERVO_0_AF, true);
PWM_SERVO_0_CONF.channels[PWM_SERVO_0_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_1
gpio_setup_pin_af(PWM_SERVO_1_GPIO, PWM_SERVO_1_PIN, PWM_SERVO_1_AF, true);
PWM_SERVO_1_CONF.channels[PWM_SERVO_1_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_2
gpio_setup_pin_af(PWM_SERVO_2_GPIO, PWM_SERVO_2_PIN, PWM_SERVO_2_AF, true);
PWM_SERVO_2_CONF.channels[PWM_SERVO_2_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_3
gpio_setup_pin_af(PWM_SERVO_3_GPIO, PWM_SERVO_3_PIN, PWM_SERVO_3_AF, true);
PWM_SERVO_3_CONF.channels[PWM_SERVO_3_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_4
gpio_setup_pin_af(PWM_SERVO_4_GPIO, PWM_SERVO_4_PIN, PWM_SERVO_4_AF, true);
PWM_SERVO_4_CONF.channels[PWM_SERVO_4_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_5
gpio_setup_pin_af(PWM_SERVO_5_GPIO, PWM_SERVO_5_PIN, PWM_SERVO_5_AF, true);
PWM_SERVO_5_CONF.channels[PWM_SERVO_5_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_6
gpio_setup_pin_af(PWM_SERVO_6_GPIO, PWM_SERVO_6_PIN, PWM_SERVO_6_AF, true);
PWM_SERVO_6_CONF.channels[PWM_SERVO_6_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_7
gpio_setup_pin_af(PWM_SERVO_7_GPIO, PWM_SERVO_7_PIN, PWM_SERVO_7_AF, true);
PWM_SERVO_7_CONF.channels[PWM_SERVO_7_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_8
gpio_setup_pin_af(PWM_SERVO_8_GPIO, PWM_SERVO_8_PIN, PWM_SERVO_8_AF, true);
PWM_SERVO_8_CONF.channels[PWM_SERVO_8_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_9
gpio_setup_pin_af(PWM_SERVO_9_GPIO, PWM_SERVO_9_PIN, PWM_SERVO_9_AF, true);
PWM_SERVO_9_CONF.channels[PWM_SERVO_9_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_10
gpio_setup_pin_af(PWM_SERVO_10_GPIO, PWM_SERVO_10_PIN, PWM_SERVO_10_AF, true);
PWM_SERVO_10_CONF.channels[PWM_SERVO_10_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_11
gpio_setup_pin_af(PWM_SERVO_11_GPIO, PWM_SERVO_11_PIN, PWM_SERVO_11_AF, true);
PWM_SERVO_11_CONF.channels[PWM_SERVO_11_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_12
gpio_setup_pin_af(PWM_SERVO_12_GPIO, PWM_SERVO_12_PIN, PWM_SERVO_12_AF, true);
PWM_SERVO_12_CONF.channels[PWM_SERVO_12_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_13
gpio_setup_pin_af(PWM_SERVO_13_GPIO, PWM_SERVO_13_PIN, PWM_SERVO_13_AF, true);
PWM_SERVO_13_CONF.channels[PWM_SERVO_13_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_14
gpio_setup_pin_af(PWM_SERVO_14_GPIO, PWM_SERVO_14_PIN, PWM_SERVO_14_AF, true);
PWM_SERVO_14_CONF.channels[PWM_SERVO_14_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_15
gpio_setup_pin_af(PWM_SERVO_15_GPIO, PWM_SERVO_15_PIN, PWM_SERVO_15_AF, true);
PWM_SERVO_15_CONF.channels[PWM_SERVO_15_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
#ifdef PWM_SERVO_16
gpio_setup_pin_af(PWM_SERVO_16_GPIO, PWM_SERVO_16_PIN, PWM_SERVO_16_AF, true);
PWM_SERVO_16_CONF.channels[PWM_SERVO_16_CHANNEL].mode = PWM_OUTPUT_ACTIVE_HIGH;
#endif
/*---------------
* Configure PWM
*---------------*/
#if PWM_CONF_TIM1
#if STM32_PWM_USE_TIM1
pwmStart(&PWMD1, &pwmcfg1);
#endif
#if PWM_CONF_TIM2
#if STM32_PWM_USE_TIM2
pwmStart(&PWMD2, &pwmcfg2);
#endif
#if PWM_CONF_TIM3
#if STM32_PWM_USE_TIM3
pwmStart(&PWMD3, &pwmcfg3);
#endif
#if PWM_CONF_TIM4
#if STM32_PWM_USE_TIM4
pwmStart(&PWMD4, &pwmcfg4);
#endif
#if PWM_CONF_TIM5
#if STM32_PWM_USE_TIM5
pwmStart(&PWMD5, &pwmcfg5);
#endif
#if PWM_CONF_TIM8
#if STM32_PWM_USE_TIM8
pwmStart(&PWMD8, &pwmcfg8);
#endif
#if PWM_CONF_TIM9
#if STM32_PWM_USE_TIM9
pwmStart(&PWMD9, &pwmcfg9);
#endif
#if PWM_CONF_TIM10
#if STM32_PWM_USE_TIM10
pwmStart(&PWMD10, &pwmcfg10);
#endif
#if PWM_CONF_TIM11
#if STM32_PWM_USE_TIM11
pwmStart(&PWMD11, &pwmcfg11);
#endif
#if PWM_CONF_TIM12
#if STM32_PWM_USE_TIM12
pwmStart(&PWMD12, &pwmcfg12);
#endif
}

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